arXiv — cs.AI preprintsInternational12 October 2026
GOTT: Object-centric Dexterous Manipulation with a Reusable Cross-Embodiment Primitive
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arXiv:2610.03861v2 Announce Type: replace-cross Abstract: Foundation models and large-scale human data provide rich sources of manipulation intent, but translating this intent into multi-fingered robot behavior remains difficult. Dexterous hands still lack a reusable low-level primitive that reliably establishes contact across tasks and embodiments. We propose GOTT, a reach-acquire-move framework built around a single cross-embodiment contact-acquisition primitive. Given a robot-agnostic object trajectory and a reach specification, GOTT first brings the hand near a task-relevant contact region
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