AdaDex turns seconds of human hand motion into generalizable dexterous robot skills
mangahomanga · x · 2026-10-23
CMU researchers present AdaDex, a goal-conditioned RL framework that converts a few-second hand-object clip into adaptable dexterous skills (functional grasping, reposing, in-hand reorientation, throw-and-catch). Its Hybrid Dexterous Mimicking trains one shared policy across motion-tracking and generalization environments, resolving the trade-off between human-like motion and generalization, and transfers across simulators and to the real world.
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