UniCross: Unified Cross-Skill Dexterous Manipulation Synthesis

arXiv:2607.28198v1 Announce Type: new Abstract: Many dexterous manipulation tasks require the object to remain securely held throughout the interaction. From the perspective of hand-object relational motion, such manipulation comprises four canonical skills: grasping, relocation, in-hand rotation, and in-hand translation. Human hands flexibly compose these skills to accomplish complex tasks. Existing approaches, however, model these skills separately with skill-specific action constraints, objec...