GOTT: Object-centric Dexterous Manipulation with a Reusable Cross-Embodiment Primitive
Read the original on arXiv AI →GOTT is a reach‑acquire‑move framework that uses a single cross‑embodiment contact‑acquisition primitive to enable dexterous manipulation across different robot embodiments. The system first positions the hand near a task‑relevant contact region, then the shared closed‑loop primitive establishes stable contact, after which a pose‑conditioned controller tracks the desired object motion. Experiments in simulation and on real robots demonstrate that GOTT reliably establishes robust contact across diverse objects, arm‑hand platforms, and both seen and unseen hand morphologies, and consistently improves end‑to‑end task success compared to open‑loop grasp execution.
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