KITE: Decoupling Kinematics and Interaction for Zero-Shot Cross-Embodiment Manipulation (opens in new tab)

Generalizing manipulation policies across robot embodiments remains difficult because standard policies entangle task reasoning with embodiment-specific motor control. We study zero-shot cross-embodiment manipulation, where a policy trained on source embodiments must be deployed on a structurally different target embodiment without additional task demonstrations. We introduce Kinematic Interaction Transfer across Embodiments (KITE), which deco...