Emerging Extrinsic Dexterity in Cluttered Scenes via Dynamics-aware Policy Learning

ArXi:2603.09882v1 Announce Type: cross Extrinsic dexterity leverages environmental contact to overcome the limitations of prehensile manipulation. However, achieving such dexterity in cluttered scenes remains challenging and underexplored, as it requires selectively exploiting contact among multiple interacting objects with inherently coupled dynamics. Existing approaches lack explicit modeling of such complex dynamics and. therefore. fall short in non-prehensile manipulation in cluttered environments, which in turn limits their practical applicability in real-world environments.