UniCross: Unified Cross-Skill Dexterous Manipulation Synthesis
arXiv:2607.28198
The paper introduces a unified framework that models four fundamental dexterous manipulation skills—grasping, relocation, in‑hand rotation, and in‑hand translation—within a single state and action space, enabling a single policy to perform all skills, generalize to new objects, and compose them for long‑horizon tasks.
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, objectives, or even dedicated hand morphologies, which breaks the compatibility and continuity required for long-horizon composition. In this work, we present a unified framework that models all four skills in a single formulation that shares the same state and action spaces and a common objective structure. This formulation enables straightforward distillation of a single cross-skill policy that performs strongly on every skill, generalizes to unseen objects, stays robust to disturbances, and chains skills seamlessly into long-horizon manipulation. The framework also transfers effectively across different hand morphologies. Overall, our results suggest that different dexterous manipulation skills can be viewed as instantiations of a shared task formulation, revealing the intrinsic consistency across different behaviors.
Project page: https://zdchan.github.io/UniCross/