DexCompose achieves 77.4% average success on 16 composite dexterous tasks by using role-aware residual composition with explicit finger ownership to combine pretrained policies without destructive interference.
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DexCompose: Reusing Dexterous Policies for Multi-Task Manipulation with a Single Hand
DexCompose achieves 77.4% average success on 16 composite dexterous tasks by using role-aware residual composition with explicit finger ownership to combine pretrained policies without destructive interference.