DexHandDiff: Interaction-aware Diffusion Planning for Adaptive Dexterous Manipulation

Dexterous manipulation with contact-rich interactions is crucial for advanced robotics. While recent diffusionbased planning approaches show promise for simple manipulation tasks, they often produce unrealistic ghost states (e.g., the object automatically moves without hand contact) or lack adaptability when handling complex sequential interactions. In this work, we introduce DexHand-Diff, an interaction-aware diffusion planning framework for adaptive dexterous manipulation. DexHandDiff models joint state-action dynamics through a dual-phase diffusion process which consists of pre-interaction contact alignment and post-contact goal-directed control, enabling goaladaptive generalizable dexterous manipulation. Additionally, we incorporate dynamics model-based dual guidance and leverage large language models for automated guidance function generation, enhancing generalizability for physical interactions and facilitating diverse goal adaptation through language cues. Experiments on physical interaction tasks such as door opening, pen and block reorientation, object relocation, and hammer striking demonstrate DexHandDiff's effectiveness on goals outside training distributions, achieving over twice the average success rate (59.2% vs. 29.5%) compared to existing methods. Our framework achieves an average of 70.7% success rate on goal adaptive dexterous tasks, highlighting its robustness and flexibility in contact-rich manipulation.

† This work was done during Zhixuan's visit to UC Berkeley.