GOTT: Object-centric Dexterous Manipulation with a Reusable Cross-Embodiment Primitive
Overview
GOTT introduces a framework for dexterous manipulation across diverse robots and objects using a reusable contact-acquisition primitive. The research highlights cross-embodiment adaptability.
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- arXiv Robotics — research abstractsGOTT: Object-centric Dexterous Manipulation with a Reusable Cross-Embodiment Primitive
This research proposes GOTT, a reach-acquire-move framework that enables dexterous manipulation across diverse robotic platforms and object morphologies. The method uses a cross-embodiment contact-acquisition primitive to establish stable contact and track desired object motion, showing improved task success in both simulation and real-world experiments.
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