Event
UniCross: Unified Four-Class Dexterous Manipulation Skills
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Hui Zhang and other authors published a paper proposing the UniCross framework, which uniformly models four dexterous manipulation skills—grasping, moving, in-hand rotation, and in-hand translation—as the same relational goal formulation, and based on this distills a single policy that does not depend on skill identifiers. The authors claim that this policy performs well on each individual skill and can generalize to unseen objects; the compatibility among skills also enables it to support long-horizon skill chaining and to execute relational goals that did not appear during training. The framework is also applicable to different hand morphologies.
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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.
arXiv cs.RO ·
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