UHAS: A Unified Action Space for Cross-Embodiment Robot Manipulation
DJiafei · x · 2026-08-11
Current robot manipulation policies are typically tied to specific robotic hand embodiments, limiting cross-platform transfer. This paper proposes the Unified Hand Action Space (UHAS), a sphere-based action representation that models hand movements as geometric deformations of a canonical sphere. A Cascade Inverse Kinematics (CIK) algorithm then maps this shared representation to embodiment-specific joint configurations.
Using reinforcement learning, the researchers trained dexterous manipulation policies directly within UHAS for in-hand cube reorientation. Evaluated across multiple embodiments—including the Allegro, LEAP, Shadow Hand, and MANO Human Hand—the method demonstrated stable control, zero-shot transfer to unseen hands, rapid finetuning, and successful real-world deployment.
More from Embodied
- University of Tokyo's DRAGON: A Transformable Flying Robot That Acts as a Manipulator — acmoytoy · 2026-08-11
- Dyna-2: Human Data Scaling Law Predictably Improves Zero-Shot Robot Performance — chris_j_paxton · 2026-08-11
- DynaRobotics Unveils Industry-First Scaling Law Linking Human Video to General Robot Capabilities — JasonMa2020 · 2026-08-11
- Mantis UMI Announced: Handheld Bimanual Grippers Accelerate Embodied AI Data Collection — chris_j_paxton · 2026-08-11
- Drones equipped with robotic arms enter commercial deployment — acmoytoy · 2026-08-11
- New Hire Joins Sunday Robotics, Tony Zhao's Home Robot Startup — ashleyyjoelle · 2026-08-11