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cross-skill policy 1dexterous manipulation 1hand morphology transfer 1in-hand manipulation 1skill unification 1

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cs.RO2026

UniCross: Unified Cross-Skill Dexterous Manipulation Synthesis

Hui Zhang, Julian Ferchow, Jie Song +1

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…