FAR-Dex: Few-shot Data Augmentation and Adaptive Residual Policy Refinement for Dexterous Manipulation

ArXi:2603.10451v1 Announce Type: cross Achieving human-like dexterous manipulation through the collaboration of multi-fingered hands with robotic arms remains a longstanding challenge in robotics, primarily due to the scarcity of high-quality nstrations and the complexity of high-dimensional action spaces. To address these challenges, we propose FAR-Dex, a hierarchical framework that integrates few-shot data augmentation with adaptive residual refinement to enable robust and precise arm-hand coordination in dexterous tasks.