Learning to Grasp Anything by Playing with Random Toys

ArXi:2510.12866v2 Announce Type: replace-cross Robotic manipulation policies often struggle to generalize to novel objects, limiting their real-world utility. In contrast, cognitive science suggests that children develop generalizable dexterous manipulation skills by mastering a small set of simple toys and then applying that knowledge to complex items. Inspired by this, we study if similar generalization capabilities can also be achieved by robots.