Mana: Dexterous Manipulation of Articulated Tools
Articulated tool manipulation remains a major challenge in dexterous robotics due to the need to coordinate internal degrees of freedom and contact-rich interactions. While prior work has largely focused on rigid objects, articulated tool use remains underexplored because of its physical complexity and the difficulty of learning functional grasping and manipulation policies. We present Mana (Manipulation Animator), a general sim-to-real framework that reinterprets dexterous manipulation as an animation problem. Inspired by computer animation, Mana employs a coarse-to-fine pipeline that transforms procedurally-generated grasp keyframes into manipulation trajectories through motion planning...
| Authors | Zhao-Heng Yin, Guanya Shi, Pieter Abbeel et al. |
|---|---|
| Primary category | cs.RO |
| Published | 11 June 2026 |
| Last updated at source | 11 June 2026 |
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