UHAS: Sphere-Based Action Space Enables Cross-Embodiment Dexterous Manipulation Learning
YuXiang_IRVL · x · 2026-08-17
RoboPapers podcast episode 97 features @lfcasas7 and @YuXiangIRVL discussing UHAS (Unified Hand Action Space), a sphere-based action representation for cross-embodiment dexterous manipulation. Different robot hands vary in size, shape, and DOF, making joint-state representations poor for transfer. UHAS aims to design a universal hand action space to facilitate learning dexterous skills across embodiments.
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