{"id":"https://openalex.org/W7160625947","doi":"https://doi.org/10.48550/arxiv.2605.05241","title":"DexSim2Real: Foundation Model-Guided Sim-to-Real Transfer for Generalizable Dexterous Manipulation","display_name":"DexSim2Real: Foundation Model-Guided Sim-to-Real Transfer for Generalizable Dexterous Manipulation","publication_year":2026,"publication_date":"2026-05-03","ids":{"openalex":"https://openalex.org/W7160625947","doi":"https://doi.org/10.48550/arxiv.2605.05241"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.05241","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.05241","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.05241","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5135658440","display_name":"Zijian Zeng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zeng, Zijian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135702274","display_name":"Fei Ding","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ding, Fei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135652891","display_name":"Huiming Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Huiming","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135721581","display_name":"Xianwei Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Xianwei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5132726257","display_name":"Yuhao Liao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liao, Yuhao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.8228999972343445,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.8228999972343445,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.08940000087022781,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.01080000028014183,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/bottleneck","display_name":"Bottleneck","score":0.6430000066757202},{"id":"https://openalex.org/keywords/generalizability-theory","display_name":"Generalizability theory","score":0.640999972820282},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.550000011920929},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5396999716758728},{"id":"https://openalex.org/keywords/bridge","display_name":"Bridge (graph theory)","score":0.501800000667572},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.41830000281333923},{"id":"https://openalex.org/keywords/foundation","display_name":"Foundation (evidence)","score":0.40939998626708984},{"id":"https://openalex.org/keywords/transfer-of-learning","display_name":"Transfer of learning","score":0.397599995136261}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6488999724388123},{"id":"https://openalex.org/C2780513914","wikidata":"https://www.wikidata.org/wiki/Q18210350","display_name":"Bottleneck","level":2,"score":0.6430000066757202},{"id":"https://openalex.org/C27158222","wikidata":"https://www.wikidata.org/wiki/Q5532422","display_name":"Generalizability theory","level":2,"score":0.640999972820282},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.550000011920929},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5422000288963318},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5396999716758728},{"id":"https://openalex.org/C100776233","wikidata":"https://www.wikidata.org/wiki/Q2532492","display_name":"Bridge (graph theory)","level":2,"score":0.501800000667572},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.48019999265670776},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.41830000281333923},{"id":"https://openalex.org/C2780966255","wikidata":"https://www.wikidata.org/wiki/Q5474306","display_name":"Foundation (evidence)","level":2,"score":0.40939998626708984},{"id":"https://openalex.org/C150899416","wikidata":"https://www.wikidata.org/wiki/Q1820378","display_name":"Transfer of learning","level":2,"score":0.397599995136261},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.36820000410079956},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.3407999873161316},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.33559998869895935},{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.3305000066757202},{"id":"https://openalex.org/C2776960227","wikidata":"https://www.wikidata.org/wiki/Q2586354","display_name":"Knowledge transfer","level":2,"score":0.3199000060558319},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.3089999854564667},{"id":"https://openalex.org/C61272859","wikidata":"https://www.wikidata.org/wiki/Q7834031","display_name":"Transferability","level":3,"score":0.3012000024318695},{"id":"https://openalex.org/C188198153","wikidata":"https://www.wikidata.org/wiki/Q1613840","display_name":"Limiting","level":2,"score":0.29789999127388},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.2912999987602234},{"id":"https://openalex.org/C2777938197","wikidata":"https://www.wikidata.org/wiki/Q7834022","display_name":"Transfer of training","level":2,"score":0.27239999175071716},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.26820001006126404},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.25529998540878296},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.05241","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.05241","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.05241","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.05241","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Sim-to-real":[0],"transfer":[1],"remains":[2],"a":[3,67,71,92,108,120,142],"critical":[4],"bottleneck":[5],"for":[6,51],"deploying":[7],"dexterous":[8,52,126],"manipulation":[9,33,133],"policies":[10],"learned":[11],"in":[12],"simulation":[13,77],"to":[14,46,75,102,124,158],"real-world":[15,145],"robots.":[16],"Existing":[17],"approaches":[18,84],"rely":[19],"on":[20,115,130],"manually":[21],"designed":[22],"domain":[23],"randomization":[24],"or":[25],"task-specific":[26],"adaptation,":[27],"limiting":[28],"their":[29],"generalizability":[30],"across":[31],"diverse":[32],"scenarios.":[34],"We":[35],"present":[36],"DexSim2Real,":[37],"an":[38],"integrated":[39],"framework":[40],"that":[41,97,113,139],"leverages":[42],"vision-language":[43,68],"foundation":[44],"models":[45],"bridge":[47],"the":[48,154],"sim-to-real":[49,104,155],"gap":[50,157],"manipulation.":[53],"Our":[54],"system":[55],"combines":[56],"three":[57],"components:":[58],"(1)":[59],"Foundation":[60],"Model-Guided":[61],"Domain":[62],"Randomization":[63],"(FM-DR),":[64],"which":[65],"uses":[66],"model":[69],"as":[70],"visual":[72,89],"realism":[73],"critic":[74],"optimize":[76],"parameters":[78],"via":[79],"closed-loop":[80],"CMA-ES,":[81],"complementing":[82],"text-based":[83],"like":[85],"DrEureka":[86,149],"with":[87,119,135],"direct":[88],"feedback;":[90],"(2)":[91],"Tactile-Visual":[93],"Cross-Attention":[94],"Policy":[95],"(TVCAP)":[96],"adapts":[98],"cross-attention":[99],"visuo-tactile":[100],"fusion":[101],"zero-shot":[103],"RL;":[105],"and":[106,150],"(3)":[107],"Progressive":[109],"Skill":[110],"Curriculum":[111],"(PSC)":[112],"builds":[114],"LLM-based":[116],"task":[117],"decomposition":[118],"difficulty":[121],"scheduler":[122],"tailored":[123],"contact-rich":[125],"tasks.":[127],"Extensive":[128],"experiments":[129],"six":[131],"challenging":[132],"tasks":[134],"blinded":[136],"evaluation":[137],"demonstrate":[138],"DexSim2Real":[140],"achieves":[141],"78.2%":[143],"average":[144],"success":[146],"rate,":[147],"outperforming":[148],"DeXtreme":[151],"while":[152],"reducing":[153],"performance":[156],"only":[159],"8.3%.":[160]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-09T00:00:00"}