Preprint
Sep 2026
Enabling a Unified Cross-Domain Representation for Two-Finger Gripper Manipulation via Interaction-Centric Modeling
Achieving robust cross-embodiment generalization in imitation learning demands overcoming a critical representation flaw that inextricably entangles task semantics with hardware-specific visual geometry. We propose an interaction-centric framework that leverages the shared structure of two-finger grippers via a paramet...
Guan-Lin Li, Shi-Feng Bao, Yi-Han Zhao et al.
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