Article

MANGO-Grasp: A Cross-Embodiment Dexterous Grasping Framework Based on Geometry-Oriented 3D Gaussians and Mahalanobis Fields

MANGO-Grasp proposes an anisotropic interaction framework that represents objects with geometry-oriented 3D Gaussian primitives to preserve local surface geometry, encodes hands as pretrained descriptors that capture both morphology and kinematics, and models hand-object contact through anisotropic Mahalanobis fields.

Part of the event: Proposes cross-embodiment dexterous grasping framework MANGO-Grasp

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