نسخة أولية وصول مفتوح
Enabling a Unified Cross-Domain Representation for Two-Finger Gripper Manipulation via Interaction-Centric Modeling
Achieving robust cross-embodiment generalization in imitation learning demands overcoming a critical representation flaw that inextricably entangles task semantics with hardware-specific visual geometry. We propose an interaction-centric framework that leverages the shared structure of two-finger grippers via a paramet …