Cross-embodied Co-design for Dexterous Hands

ArXi:2512.03743v3 Announce Type: replace-cross Dexterous manipulation is limited by both control and design, without consensus as to what makes manipulators best for performing dexterous tasks. This raises a fundamental challenge: how should we design and control robot manipulators that are optimized for dexterity? We present a co-design framework that learns task-specific hand morphology and complementary dexterous control policies.