MANGO-Grasp: Mahalanobis Fields over Geometry-Oriented 3D Gaussians for Cross-Embodiment Dexterous Grasping
Cross-embodiment dexterous grasping aims to synthesize stable grasps across heterogeneous multi-fingered hands with little or no embodiment-specific tuning. Existing interaction-centric methods achieve promising results, but their object representations often underrepresent local surface geometry, while their robot descriptors do not explicitly encode both robot morphology and kinematics. We propose MANGO-Grasp, an anisotropic interaction framework that represents objects as geometry-oriented 3D Gaussian primitives and robot hands as surface keypoints encoded into morpho-kinematic descriptors. The object primitives are adaptively allocated by geometric complexity and shaped as surface-ali...
| Authors | Heng Zhang, Kevin Yuchen Ma, Mike Zheng Shou et al. |
|---|---|
| Primary category | cs.RO |
| Published | 3 August 2026 |
| Last updated at source | 3 August 2026 |
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