Dexterous Grasp Generation

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  1. BRAVE-6D: Benchmark for Robotic Active Vision in 6DOF Pose Estimation

    Sep 15, 2026Philipp Ausserlechner, Bernhard Neuberger, Alessandro Scherl +3Robust Pose EstimationDexterous Grasp Generation

  2. ConGraspXL: Controllable Constraint-Conditioned Dexterous Grasping Motion Synthesis

    Sep 14, 2026Hui Zhang, Mirko Meboldt, Jie SongDexterous Grasp Generation

  3. From Transportation to Manipulation: Enabling Grasping in Magnetic Robotics

    Sep 14, 2026Lara Bergmann, Noah Greis, Cedric Grothues +2Gripper

  4. Grounding Generated Video Plans in Simulation Towards Versatile Dexterous Controllers

    Sep 9, 2026Tianyue Wu, Boyuan An, Shuqi Zhao +63D Hand-Object InteractionDexterous Grasp Generation

  5. TacClip: a clip-on sensor measures dynamic contact forces without covering the fingerpads

    Sep 8, 2026Yuqian Ye, Hao Li, Jingxi Xu +3Tactile SensingEdge-Sdf Contacts

  6. CosmoH2G: A Hand-to-Gripper Transfer Dataset and Baseline Method for Object Manipulation with Complex Spatial Movements

    Sep 7, 2026Hongxiang Zhao, Mutian Xu, Zeyu Jin +3GripperKeypoint Detection

  7. Generalizable 6D Pose Estimation of Textureless Objects with Planar-based Gaussian Splatting

    Sep 7, 2026Jie Lu, Hengtan Zhang, Li Gong +7Robust Pose EstimationDexterous Grasp Generation

  8. EquiGQNet: Fast Grasp Quality Evaluation via Shared Equivariant Point Cloud Encoding

    Sep 7, 2026Sungwon Seo, Jaeseog Won, Jiyou Shin +5Dexterous Grasp GenerationPoint Clouds

  9. Adaptive Vision-Language Grasping via Composable Foundation Priors and Generalizable Grasp Synthesis

    Sep 3, 2026Sixu Yan, Shikang Wang, Binhua Huang +11Dexterous Grasp GenerationRobotic Manipulation

  10. Robot Aware Computational Design of Object Specific Passive Grippers for Additive Manufacturing

    Sep 3, 2026Abdullah Yahya Abdullah Omaisan, Ibrahim Sheikh MohamedGripperAdditive Manufacturing

  11. ARTiS: An Adaptive Robotic Gripper for Enhanced Tool Manipulation in Disassembly Applications

    Sep 3, 2026Roman Mykhailyshyn, Yukiyasu Domae, Kensuke HaradaGripperRobotic Hands

  12. MACAW: Reliable And Efficient Surgical Debridement Using Monocular Adaptive Compact Attention Windows

    Sep 2, 2026Ziyang Chen, Shutong Jin, Preethi Satish +6Robot-Assisted Minimally Invasive SurgeryInvasive Surgery

  13. Non-Prehensile Throwing: A Reinforcement Learning Perspective

    Sep 1, 2026Abdullah Mustafa, Ryo Hanai, Ixchel G. Ramirez-Alpizar +4Generalizable Robot ControlDexterous Grasp Generation

  14. Potential-Guided Particle Steering for Negation-Constrained Dexterous Grasping

    Sep 1, 2026Geonho Kim, SooGon Kim, Jongmin LeeDexterous Grasp GenerationNegation

  15. Learning to infer and manipulate through distributed whole-arm interaction in a soft robot

    Aug 31, 2026Chuhan Zhang, Ebrahim Shahabi, Kseniia Khomenko +2Continuum RobotsGrasp Stability

  16. EgoPHI: Estimating Contact and Force from Egocentric Vision

    Aug 13, 2026Andela Ilic, Rachel Schuchert, Yijing Jiang +13D Hand-Object InteractionForce Sensing

  17. TCAM for Autonomous Deformable Manipulation: The RMC2 Champion System for WBCD 2026 Track 4

    Aug 11, 2026Guangrui Shen, Zhili He, Shigang Wang +2GripperRobots

  18. Real-World Cooperative Bimanual Dexterous Grasp of Large Objects from Single-View Observations

    Aug 11, 2026Ziming Li, Mingxuan Wu, Jiaqi Zhang +4Dexterous Grasp GenerationReal-World

  19. RoboSeg: Online Part-Level Semantic Reconstruction for Robotic Manipulation via a Single Eye-in-Hand Camera

    Aug 10, 2026Zhaochen Lan, Mengxiang LinDexterous Grasp GenerationRobotic Manipulation

  20. Ultra-Low-Impedance Robotic Gripper for High-Bandwidth and Transparent Physical Interaction

    Aug 10, 2026Joon Lee, Ari Choi, Seokhwan JeongGripperDexterous Manipulation

  21. A Mixed-Stiffness Anthropomimetic Fingertip Broadens the Operating Range for Coin Grasping

    Aug 8, 2026Kaigen Go, Yinlai Jiang, Hiroshi Yokoi +1Grasp StabilityDexterous Grasp Generation

  22. Detection and Ranging of Transient Extrinsic Contacts Based on 6D Dynamic Tactile Sensing

    Aug 7, 2026Haowen Zheng, Yinghao Wu, Fuyuan Liu +2Tactile SensingGripper

  23. AdaDexGrasp: Adaptive Dexterous Grasping via 3D Visuo-Tactile Representation Fusion

    Aug 6, 2026Xirui Liang, Jiaqi Liang, Jingkai Xu +6Dexterous Grasp GenerationTactile Sensing

  24. GraspMeanFlow: SE(3)-Equivariant MeanFlow for Few-Step 6-DoF Grasp Generation

    Aug 4, 2026Jiyong Kwon, Yikun Bai, Amirhossein Mollaali +1Dexterous Grasp GenerationGrasp Stability

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

    Aug 3, 2026Heng Zhang, Kevin Yuchen Ma, Mike Zheng Shou +2Dexterous Grasp Generation3D

  26. PhotoHOI: Synthesizing 3D Hand-Object Interactions from a Single RGB Photograph

    Aug 3, 2026Zhenhao Zhang, Jiajun Zhang, Wei Min +13D Hand-Object InteractionDexterous Grasp Generation

  27. A Tilt-Rotor UAV with a Gripper for Stable Contact-Based Tasks via Environmental Anchoring

    Aug 3, 2026Joshua Taylor, Nursultan Imanberdiyev, Wei-Yun Yau +2Aerial RobotsUnmanned Aerial Vehicles

  28. GraRe: Grasp Candidate Re-Ranking for Frozen 6-DoF Grasp Detectors

    Aug 2, 2026Jibao Yuan, Yuhui Zhao, Yinzhen Lv +4Dexterous Grasp GenerationFine-Grained Perception

  29. Grasp Execution Without a Planner: Configuration-Space Grasp Distance Fields with Certified Safety & Guaranteed Quality

    Aug 1, 2026Clinton Enwerem, John S. Baras, Calin BeltaDexterous Grasp GenerationCollision-Free Trajectories

  30. Compliant Sphere Lattice Contact: Distributed Contact Modeling for Sphere-Based Robot Representations

    Jul 31, 2026Nataliya Nechyporenko, Ava Abderezaei, Alessandro RonconeEdge-Sdf ContactsContact

  31. TransGraspNet: Physically and Geometrically Consistent Manipulation of Transparent Labware

    Jul 31, 2026Hailing Hu, Mingyi Zhu, Yiquan An +3Grasp StabilityGeometric Consistency

  32. SAGP: Semantic Affordance-Guided Grasp Planning via Coarse-Zone VLM Reasoning

    Jul 31, 2026Muhayy Ud Din, Irfan HussainDexterous Grasp GenerationSemantic-Geometric Representations

  33. LM-GRASP: Instance-Specific Language Models for Combinatorial Construction via Online Imitation Learning

    Jul 30, 2026Mohand Mezmaz, Grégoire DanoyMetaheuristicsCombinations

  34. Speech2Grasp: Data-Efficient Transfer of Text-Conditioned Grasp Detection to Speech in Humanoid Robots

    Jul 29, 2026Hung Nguyen, Kim Nhat Minh Nguyen, Van Duc Vu +6Dexterous Grasp GenerationCo-Speech Gesture Generation

  35. Reeling It In: Flexible Needle Pick Up via Thread Manipulation for Autonomous Suturing

    Jul 28, 2026Emma Huang, Zih-Yun Chiu, Neelay Joglekar +2Robot-Assisted Minimally Invasive SurgeryDexterous Grasp Generation

  36. VisualPatchWorld: Code World Models as Latent Structured Representations for Planning

    Jul 28, 2026Jiaxin Bai, Jiaxuan XiongClassical PlanningWorld Models and Dynamics

  37. FIRMGrasp: A Friction-Informed Risk Margin for Robust Grasp Synthesis

    Jul 27, 2026Clinton Enwerem, John S. Baras, Calin BeltaGrasp StabilityData Quality

  38. Grasp, Handover, Rotate: Bimanual Object Reorientation via Compositional Diffusion and Energy-Based Optimization

    Jul 23, 2026Wun Lam Yeung, Wenjun Liu, Yui Cheung Yu +5Dexterous Grasp GenerationRotation

  39. SeededGrasp: Language-Guided Grasping in Complex Scenes with Multiple Embodiments

    Jul 22, 2026Yang Xu, Gurpreet Singh Mukker, Raymond Wang +3Dexterous Grasp GenerationGrasp Stability

  40. Design and stability analysis of an underactuated hand with passively rotating fingers

    Jul 21, 2026Léonie Plancoulaine, Sylvain Guégan, Franck Plestan +1Robotic HandsGrasp Stability

  41. Optimization of sim-to-real transfer in the humanoid robot NICO

    Jul 20, 2026Juraj Gavura, Igor FarkašDexterous Grasp GenerationSim-To-Real Gap

  42. Receiver-Centered Robot-to-Human Handover with Grasp-Aware Object Orientation

    Jul 20, 2026Federico Biagi, Dario Onfiani, Simone Silenzi +1Human-Robot CollaborationHuman-To-Robot Transfer

  43. Seg2Grasp: A Robust Modular Suction Grasping in Bin Picking

    Jul 20, 2026Hye-Jung Yoon, Juno Kim, Yesol Park +2Dexterous Grasp GenerationMulti-Agent Pickup

  44. Continuously Stable Structure through Plastic Deformation

    Jul 17, 2026Junlong Xiao, Yaoqiang Pan, Xuan Zhang +2GripperGrasp Stability

  45. AHEAD: Anticipatory Hand-Driven Teleoperation via Human Intent Prediction

    Jul 16, 2026Seok Joon Kim, Junho Lee, Federica Spinola +2TeleoperationDexterous Grasp Generation

  46. Hybrid Rigid-Soft Robotic Gripper with Shape Adaptation, Uniform Force Distribution, and Self-Locking Capabilities

    Jul 16, 2026Xi Chen, Yun Wang, Lichao Yang +2GripperSoft Pneumatic Actuators

  47. Beyond Visual Grasping: Benchmarking Complex Grasping from Detection to Execution

    Jul 15, 2026Hanyi Zhang, Khang Nguyen, Charith Munasinghe +10Dexterous Grasp GenerationRobotic Manipulation

  48. Towards a Modular Bin-picking Framework for Handling Object Pose Uncertainties

    Jul 15, 2026Frederik HagelskjærDexterous Grasp GenerationModular Framework

  49. GraspGraphNet: Graph-Structured Multi-Embodiment Dexterous Grasp Generation

    Jul 13, 2026Yeonseo Lee, Taeyeop Lee, Hyosup Shin +2Dexterous Grasp GenerationTopology

  50. PinFT: Miniature 5-Axis Force/Torque Sensor Embeddable to Tweezer-like Tool

    Jul 10, 2026Leo King, Jenny Chen, Tae Myung HuhGripperActuator

  51. Impedance-Guided Programmable Transmission of Localized Deformation in Modular Soft Metamaterials

    Jul 9, 2026Weiyun Xu, Daewon Hong, Zhi Zhao +2MetamaterialsDeformation

  52. Monocular Vision Based Control Framework for Grasping

    Jul 8, 2026Shail Jadav, Dongheui LeeDexterous Grasp GenerationGripper

  53. Vision Language Action (VLA) Models for Unmanned Aerial Robotics and Bimanual Manipulation: A Review

    Jul 7, 2026Inkyu Sa, Chanoh Park, Hea-Min Lee +2Vision-Language-ActionUnmanned Aerial Vehicles

  54. Calf-Integrated Arms for Bimanual Quadruped Loco-Manipulation

    Jul 7, 2026Yan Pan, Yuanchuan Ren, Chipui Chan +2Humanoid Loco-ManipulationDexterous Manipulation

  55. DexTele: A Dual-Arm Dexterous Teleoperation System Based on Motion Retargeting and Adaptive Force Control

    Jul 7, 2026Yuanchuan Lai, Qing Gao, Ziyan Liang +3Motion RetargetingDexterous Grasp Generation

  56. GraspIT: A Dataset Bridging the Sim-to-Real gap and back for Validated Grasping SE(3) Pose Generation

    Jul 7, 2026Paul Koch. Adem Karakurt, André SersDexterous Grasp GenerationRobotic Manipulation Policies

  57. HUGS: Guiding Unified Dexterous Grasp Synthesis Across Modes and Scales via Learned Human Priors

    Jul 6, 2026Mingrui Yu, Yongpeng Jiang, Yongyi Jia +4Dexterous Grasp GenerationGripper

  58. CoorGrasp: Coordinated Contact Control for Adaptive Dexterous Grasping Under Uncertainty

    Jul 3, 2026Mingrui Yu, Yongpeng Jiang, Yongyi Jia +2Dexterous Grasp GenerationGrasp Stability

  59. Current as Touch: Proprioceptive Contact Feedback for Compliant Dexterous Manipulation

    Jul 3, 2026Chenyang Ma, Yunchao Yao, Zhenyu Wei +3ProprioceptionTactile Sensing

  60. CoDex: Learning Compositional Dexterous Functional Manipulation without Demonstrations

    Jun 30, 2026Bowen Jiang, William Painter Reger, Roberto Martin-MartinReal-World Mobile Manipulation TasksRobotic Manipulation Policies