Unified Action Space Controls Diverse Robotic Hands
YuXiang_IRVL · x · 2026-07-12
This work introduces a unified, physics-constrained action interface aimed at controlling robotic dexterous hands at a lower cost.
The core contribution is the Unified Hand Action Space (UHAS):
- Uses a unified representation, allowing a single policy to control various robotic hands with different structures and finger counts
- Suitable for cross-embodiment dexterous manipulation
- A video demonstrates the same policy simultaneously controlling four different hands
The author likens this to a computational version of UMI for multi-finger manipulation.
Related event: UHAS Unifies Action Space for Cross-Embodiment Robotic Hands(3 posts)→
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