DexFuture: Hierarchical Future-State Visuomotor Targeting for Bimanual Dexterous Tool Use

Runfa Blark Li; Kuang-Ting Tu; Nikola Raicevic; Dwait Bhatt; Xinshuang Liu; Keito Suzuki; Ki Myung Brian Lee; Nikolay Atanasov; Truong Nguyen

arXiv · 2606.05699

DexFuture: Hierarchical Future-State Visuomotor Targeting for Bimanual Dexterous Tool Use

Runfa Blark Li·Kuang-Ting Tu·Nikola Raicevic·Dwait Bhatt·Xinshuang Liu·Keito Suzuki·Ki Myung Brian Lee·Nikolay Atanasov·Truong Nguyen

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Abstract

Bimanual dexterous tool use remains challenging for robots due to high-dimensional hand configurations and complex hand-tool-object dynamics and contact. Most existing control policies depend on future configuration references provided from demonstrations, while future action-conditioned world models require slow online planning over high-dimensional action sequences. A significant challenge is generating a dynamically consistent future reference trajectory without relying on privileged states from demonstrations or slow counterfactual planning. We propose DexFuture, a hierarchical system that couples a high-level Future-State Visuomotor Target Predictor with a low-level Target-Conditioned Structured Dexterous Policy. Conditioned on egocentric RGB, proprioceptive and geometric history, the high-level predictor constructs structured hand-tool-object visuomotor embeddings and uses a horizon-conditioned transformer to generate a multi-step future target trajectory. Then, the low-level policy tracks them with a target-conditioned per-link transformer. This hierarchy decouples coarse future reference generation from fine-grained action control, and slow long-horizon semantic prediction from high-frequency execution. On OakInk2 bimanual tool-use tasks, DexFuture achieves 90% of the privileged-oracle performance, compared to 7% for a no-reference policy. DexFuture operates at 60 Hz, approximately 250 times faster than DexWM-style Cross-Entropy Method (CEM) planning with a future action-conditioned world model.

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Runfa Blark Li, Kuang-Ting Tu, Nikola Raicevic, Dwait Bhatt, Xinshuang Liu, Keito Suzuki, Ki Myung Brian Lee, Nikolay Atanasov, Truong Nguyen. 2026-06-04. DexFuture: Hierarchical Future-State Visuomotor Targeting for Bimanual Dexterous Tool Use. https://arxiv.org/abs/2606.05699

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