GOTT: Object-centric Dexterous Manipulation with a Reusable Cross-Embodiment Primitive

What happened

arXiv:2610.03861v1 Announce Type: new 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. The shared closed-loop primitive then establishes stable contact from this approximate initialization, and a pose-conditioned controller tracks the desired object motion.

Simulation and real-world experiments show that GOTT is able to establish robust contact across diverse objects, arm-hand platforms, and seen and unseen hand morphologies. Dexterous hands still lack a reusable low-level primitive that reliably establishes contact across tasks and embodiments.

Given a robot-agnostic object trajectory and a reach specification, GOTT first brings the hand near a task-relevant contact region. Reach specifications may come from future-aware planning, external models, or human demonstrations, while the primitive and tracking backend remain unchanged.