KITE: Decoupling Kinematics and Interaction for Zero-Shot Cross-Embodiment Manipulation
Generalizing manipulation policies across robot embodiments remains difficult because standard policies entangle task reasoning with embodiment-specific motor control. We study zero-shot cross-embodiment manipulation, where a policy trained on source embodiments must be deployed on a structurally different target embodiment without additional task demonstrations. We introduce Kinematic Interaction Transfer across Embodiments (KITE), which decouples manipulation into embodiment-agnostic task reasoning and embodiment-specific motor control, connected through a learned latent representation of interaction intent based on contact patterns. Task reasoning is performed by a shared policy that p...
| Authors | Qianxu Wang, Kuan Fang |
|---|---|
| Primary category | cs.RO |
| Published | 20 June 2026 |
| Last updated at source | 20 June 2026 |
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