GOTT represents manipulation intent with two inputs: a desired object trajectory and a reach specification that guides the hand toward a task-relevant contact region.
One Contact Skill Transfers Dexterous Manipulation Across Robot Hands
GOTT separates reaching, contact acquisition and object motion tracking, allowing one feedback-driven contact policy to support varied tasks, objects and robot embodiments.
Big Tech
Yulin Liu · Lai Wei · Yen-Jen Wang · Akash Sharma · Pieter Abbeel · Henrik I. Christensen · +1 more
Amazon FAR · UC San Diego · University of Chicago · UC Berkeley
Research Digest··2 min read
Liu and colleagues introduce GOTT, a dexterous manipulation framework that executes robot-agnostic object trajectories using a reusable contact-acquisition skill.
Why this paper
From Amazon FAR and 3 others
In one line
A reusable cross-embodiment contact-acquisition primitive enables dexterous manipulation from object trajectories and reach specifications.
What we could check
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