MANGO-Grasp: Mahalanobis Fields over Geometry-Oriented 3D Gaussians for Cross-Embodiment Dexterous Grasping

arXiv:2608.02014v2 Announce Type: replace-cross Abstract: 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, hand descriptors do not explicitly capture both morphology and kinematics, and hand-object interaction modeling is typically isotropic. We propose MANGO-Grasp, an anisotropic interaction framework that represents objects as geometry-oriented 3

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