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UniCross: A Unified Cross-Skill Dexterous Manipulation Synthesis Framework

UniCross proposes a unified framework that models four dexterous manipulation skills—grasping, relocation, in-hand rotation, and in-hand translation—as the same relational-target formulation, and distills a single policy that does not depend on skill identifiers. The policy performs well on each individual skill, generalizes to unseen objects, and supports long-horizon skill chaining and execution of relational targets unseen during training; the framework also applies to different hand morphologies.

Part of the event: UniCross: Unified Four-Class Dexterous Manipulation Skills

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