Cleaver said all the men have convictions for child sex offending and are subject to extended supervision orders.
Three of the men were released on bail back to the facility while the other three were remanded in prison.
"For the men who have returned to the facility, their probation officer will fully reinforce that they must comply with their conditions and that if they don't they will be held to account," Cleaver added.
Kaainga Taupua comprises of eight four-bedroom homes for people who are subject to community-based orders.
It is a transitional facility for people after finishing a prison sentence to give them somewhere stable to live with access to wrap-around support services.
Although the homes are on prison land, people who live there can leave the property and Corrections does not have the authority to search either the men or their residence. It is also not staffed by Corrections.
"Many defendants and offenders face challenges finding suitable accommodation," Cleaver said.
"Without assistance many people leaving prison may otherwise be homeless, posing a greater risk to the community."