Author

Weisi Lin

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Preprint Aug 2026

MANGO-Grasp: Mahalanobis Fields over Geometry-Oriented 3D Gaussians for Cross-Embodiment Dexterous Grasping

MANGO-Grasp is proposed, an anisotropic interaction framework that represents objects as geometry-oriented 3D Gaussian primitives and robot hands as surface keypoints encoded into morpho-kinematic descriptors and achieves 86% success in real-world experiments.

Heng Zhang, K. Ma, M. Shou et al. · 0 citations