**摘要**
Articulated tool manipulation remains a major challenge in dexterous robotics due to the need to coordinate internal degrees of freedom and contact-rich interactions. While prior work has largely focused on rigid objects, articulated tool use remains underexplored because of its physical complexity and the difficulty of learning functional grasping and manipulation policies. We present Mana (Manip
👤 作者: Zhao-Heng Yin, Guanya Shi, Pieter Abbeel, C. Karen Liu

---
🔗 **[Mana: Dexterous Manipulation of Articulated Tools](https://arxiv.org/abs/2606.13677v1)**

> Mana: Dexterous Manipulation of Articulated Tools
🏷️ 来源: ArXiv cs.AI
⏱️ 2026-06-12 14:00