arxivcs.RO2026-07-03
Cross-Embodiment Robot Manipulation via a Unified Hand Action Space
Luis Felipe Casas, Robert Teal, Keval Shah, Abhijit Tadepalli, Wanxin Jin, Yu Xiang
Robot manipulation policies are typically tied to specific robotic hand embodiments, limiting the transfer of learned behaviors across platforms with different kinematic structures. In this work, we propose the Unified Hand Action Space (UHAS), a sphere-based unified action repre…