KITE: Decoupling Kinematics and Interaction for Zero-Shot Cross-Embodiment Manipulation

arXiv:2606.22113 · cs.RO, cs.AI · Submitted 2026-06-20 · Read on arXiv

cs.RO, cs.AI

Submitted: 2026-06-20

Updated: 2026-10-20

Comments: 13 pages, including appendix. Project website: https://kite-manip.github.io/

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Action Decoder — 2× in this paper · explained in 1 episode
• Decoder — 2× in this paper · explained in 2 episodes
• Adaptation — 1× in this paper · explained in 1 episode
• Decoupling — 1× in this paper · explained in 2 episodes
• Latent Representation — 1× in this paper · explained in 2 episodes
• Zero-Shot Transfer — 1× in this paper · explained in 5 episodes

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