UniCross: Unified Cross-Skill Dexterous Manipulation Synthesis

This research presents UniCross, a unified framework for dexter, manipulation tasks that integrates four canonical skills—grasping, relocation, in-hand rotation, and translation—into a single formulation. The framework enables a cross-skill policy that generalizes across objects, remains robust to disturbances, and supports long-horizon manipulation without switching policies, revealing the intrinsic consistency of dexterous manipulation tasks.