A unified parameter space and canonical URDF enable cross-embodiment dexterous grasping policies with 81.9% zero-shot success on unseen hands like the 3-finger LEAP Hand.
T(r, o) grasp: Efficient graph diffusion of robot-object spatial transformation for cross-embodiment dexterous grasping
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One Hand to Rule Them All: Canonical Representations for Unified Dexterous Manipulation
A unified parameter space and canonical URDF enable cross-embodiment dexterous grasping policies with 81.9% zero-shot success on unseen hands like the 3-finger LEAP Hand.