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

- Source: arXiv cs.RO
- Published: 2026-10-19T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/gsaet3m02fp96h4bckoi9u6lg
- Original: https://arxiv.org/abs/2608.02014

## Summary

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.