We present a primitive-informed sampling-based model predictive control (MPC) framework for multi-fingered dexterous manipulation. Sampling-based MPC evaluates candidate control trajectories through forward simulation without requiring gradients through complex contact dynamics. However, directly sampling these trajectories in the high-dimensional joint space of a dexterous hand is inefficient and makes performance strongly dependent on the sampling distribution. Our framework biases sampling using low-dimensional manipulation primitives that encode coordinated finger motions, while simultaneously optimizing joint-level residuals to adapt these motions to the current hand-object configuration. Task-related rollout constraints reject infeasible trajectories during forward simulation, improving the effective use of the sampling budget. We evaluate the approach on a 16 DoF Allegro hand using a synchronized MuJoCo digital twin. Ablations show that both the primitive and residual are necessary for reliable continuous in-hand rotation, that increasing the sampling budget alone does not recover this coordination, and that rollout constraints substantially improve success rate. A primitive extracted for one object size transfers to other sizes and remains effective under model mismatch. The framework further supports grasping, object reorientation, and coordinated arm-hand manipulation, using primitives extracted from both a simulation-trained policy and human hand-motion data.

翻译：暂无翻译