KITE: Decoupling Kinematics and Interaction for Zero-Shot Cross-Embodiment Manipulation

arXiv:2606.22113v2 Announce Type: replace-cross Abstract: Generalizing manipulation policies across robot embodiments remains difficult because standard policies tie the interactions needed for a task to the actions of a particular robot. 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 interaction prediction and embodiment-

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