Dexterous Grasp Generation

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Period ending 2026-09-14

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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. Grounding Generated Video Plans in Simulation Towards Versatile Dexterous Controllers

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

  4. 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

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

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

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

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

  7. Non-Prehensile Throwing: A Reinforcement Learning Perspective

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

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

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

  9. 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

  10. 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

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

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

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

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

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

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

  14. 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

  15. 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

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

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

  17. 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

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

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

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

    Jul 30, 2026Mohand Mezmaz, Grégoire DanoyMetaheuristicsCombinations

  20. 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

  21. 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

  22. 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

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

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

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

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

  25. 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

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

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

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

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

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

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

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

    Jul 15, 2026Frederik HagelskjærDexterous Grasp GenerationModular Framework

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

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

  31. Monocular Vision Based Control Framework for Grasping

    Jul 8, 2026Shail Jadav, Dongheui LeeDexterous Grasp GenerationGripper

  32. 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

  33. 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

  34. 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

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

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

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

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

  37. CoDex: Learning Compositional Dexterous Functional Manipulation without Demonstrations

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

  38. Agentic RAG-VLM: Affordance-Aware Retrieval-Augmented Generation with Self-Reflective Planning for Robotic Grasping

    Jun 30, 2026Tao Chen, Lizheng Liu, Jiaxu Wang +4Dexterous Grasp GenerationRobotic Manipulation

  39. From Grasps to Dexterity: Large-Scale Grasp Pretraining for Dexterous Manipulation

    Jun 29, 2026Ying Yuan, Xinyu Liu, Sriram Krishna +1Dexterous Grasp GenerationDexterous Manipulation

  40. Grasp-Oriented Non-Prehensile Manipulation via Learning a Graspability Field

    Jun 29, 2026Licheng Zhong, Gim Hee LeeDexterous Grasp GenerationDexterous Manipulation

  41. DCGrasp: Distance-aware Controllable Grasp Generation

    Jun 29, 2026Hiroyasu Akada, Jesús Pérez, Emre Aksan +6Dexterous Grasp GenerationGrasp Stability

  42. DynaMOMA: Instantaneous Prediction of Grasp Poses for Mobile Manipulation of Dynamic Objects

    Jun 24, 2026Zhinan Yu, Junyan Xu, Jiazhao Zhang +9Dexterous Grasp GenerationDynawm

  43. AutoDex: An Automated Real-World System for Dexterous Grasping Data Collection

    Jun 22, 2026Mingi Choi, Gunhee Kim, Jisoo Kim +4Dexterous Grasp GenerationGrasp Stability

  44. Pose-Agnostic Robotic Functional Grasping via Observation-Action Canonicalization

    Jun 19, 2026Le Qiu, Cole Harrison, Jiankai Sun +5Dexterous Grasp GenerationVisuomotor Policy

  45. GCNGrasp-VP: Affordance-Guided View Planning for Efficient Task-Oriented Grasping

    Jun 17, 2026Zanjia Tong, Wenlong Dong, Chengjie Zhang +1Dexterous Grasp GenerationRobot Perception

  46. EAGG: Embodiment-Aligned Grasp Generation via Geometry-Aware Graph Conditioning

    Jun 16, 2026Wanhao Niu, Qiyan Ke, Yuan Sun +5Dexterous Grasp GenerationEnd-Effector Pose

  47. A Hybrid Optimization Framework for Grasp Synthesis under Partial Observations

    Jun 16, 2026Wenzheng Zhang, Fahira Afzal Maken, Tin Lai +1Dexterous Grasp GenerationGeometric Reconstruction

  48. Human Universal Grasping

    Jun 15, 2026Kevin Yuanbo Wu, Tianxing Zhou, Isaac Tu +5Dexterous Grasp GenerationEgocentric Dataset

  49. Transferring Contact, Not Just Motion: Compliant Grasping Across Dexterous Hands

    Jun 14, 2026Soofiyan Atar, Yao-Ting Huang, Michael YipRobotic HandsDexterous Grasp Generation

  50. Towards Reliable Sequential Object Picking in Clutter: The Runner-up Solution to RGMC 2025

    Jun 11, 2026Wei Yu, Xidan Zhang, Ziyi Zheng +2Dexterous Grasp GenerationObjects

  51. EquiDexFlow: Contact-Grounded SE(3)-Equivariant Dexterous Grasp Generative Flows

    Jun 10, 2026Clinton Enwerem, John S. Baras, Calin BeltaDexterous Grasp GenerationInverse Kinematics

  52. Bridging the Morphology Gap: Adapting VLA Models to Dexterous Manipulation via Intent-Conditioned Fine-Tuning

    Jun 10, 2026Chuanke Pang, Junyi Huang, Zhijun Zhao +3Vision-Language-ActionDexterous Grasp Generation

  53. Blind Dexterous Grasping via Real2Sim2Real Tactile Policy Learning

    Jun 10, 2026Shengcheng Luo, Xiyan Huang, Zhe Xu +3Dexterous Grasp GenerationTactile Sensing

  54. KPGrasp: Scalable Keypoint Flow Matching for Dexterous Grasp Generation

    Jun 8, 2026Yuansen Huang, Jiayi Chen, Haoran Liu +6Dexterous Grasp GenerationGrasp Stability

  55. EgoTactile: Learning Grasp Pressure for Everyday Objects from Egocentric Video

    Jun 8, 2026Yuan Zeng, Yujia Shi, Tiao Tan +6Dexterous Grasp GenerationTactile Sensing

  56. GraspFoM: Towards Reconstruction-Driven Robotic Grasping with 3D Foundation Priors

    Jun 7, 2026Dongli Wu, Xiaobao Wei, Hao Wang +5Dexterous Grasp GenerationGrasp Stability

  57. Simulation-Driven Imitation Learning for Biosignals-Free Shared-Autonomy Prosthetic Grasping

    Jun 5, 2026Kaijie Shi, Wanglong Lu, Huiling Chen +4Dexterous Grasp GenerationImitation Learning

  58. A Cross-view Fusion Framework for Robust 6-DoF Grasp Pose Estimation

    Jun 5, 2026Kangjian Zhu, Haobo Jiang, Jianjun Qian +1Dexterous Grasp GenerationCross-View

  59. MoDex: A Diffusion Policy for Sequential Multi-Object Dexterous Grasping

    Jun 3, 2026Haofei Lu, Hongjia Liu, Yifei Dong +3Dexterous Grasp GenerationGrasp Stability

  60. Grasp-Then-Plan with Failure Attribution: A Closed Two-Stage Framework for Precise and Generalizable Robotic Manipulation

    Jun 2, 2026Jiahao Xu, Peiyuan Wang, Hanzhuo Zhang +7Dexterous Grasp GenerationRobotic Manipulation