SimToolReal：面向零样本灵巧工具操作的以物体为中心策略

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Abstract:The ability to manipulate tools significantly expands the set of tasks a robot can perform. Yet, tool manipulation represents a challenging class of dexterity, requiring grasping thin objects, in-hand object rotations, and forceful interactions. Since collecting teleoperation data for these behaviors is challenging, sim-to-real reinforcement learning (RL) is a promising alternative. However, prior approaches typically require substantial engineering effort to model objects and tune reward functions for each task. In this work, we propose SimToolReal, taking a step towards generalizing sim-to-real RL policies for tool manipulation. Instead of focusing on a single object and task, we procedurally generate a large variety of tool-like object primitives in simulation and train a single RL policy with the universal goal of manipulating each object to random goal poses. This approach enables SimToolReal to perform general dexterous tool manipulation at test-time without any object or task-specific training. We demonstrate that SimToolReal outperforms prior retargeting and fixed-grasp methods by 37% while matching the performance of specialist RL policies trained on specific target objects and tasks. Finally, we show that SimToolReal generalizes across a diverse set of everyday tools, achieving strong zero-shot performance over 120 real-world rollouts spanning 24 tasks, 12 object instances, and 6 tool categories.

Comments:	23 pages, 16 figures, 3 tables. Project page: this https URL
Subjects:	Robotics (cs.RO); Artificial Intelligence (cs.AI)
Cite as:	arXiv:2602.16863 [cs.RO]
	(or arXiv:2602.16863v3 [cs.RO] for this version)
	https://doi.org/10.48550/arXiv.2602.16863 arXiv-issued DOI via DataCite

Submission history

From: Tyler Lum [view email]
[v1] Wed, 18 Feb 2026 20:42:39 UTC (44,628 KB)
[v2] Tue, 24 Feb 2026 17:10:02 UTC (44,629 KB)
[v3] Tue, 6 Oct 2026 05:50:23 UTC (44,629 KB)