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We introduce an efficient approach for learning dexterous grasping with minimal data, advancing robotic manipulation capabilities across different robotic hands.
On grasp choice, grasp models, and the design of hands for manufacturing tasks
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Task constraints and infant grip configurations
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Graspit! a versatile simulator for robotic grasping
Andrew T Miller and Peter K Allen · 2004
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Early origin for human-like precision grasping: a comparative study of pollical distal phalanges in fossil hominins
Sergio Almecija, Salvador Moya-Sola, and David M Alba · 2010
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Synthesizing grasp configurations with specified contact regions
Carlos Rosales, Lluís Ros, Josep M Porta, and Raúl Suárez · 2011
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Adam: A method for stochastic optimization
Diederik P Kingma and Jimmy Ba · 2014
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Infant manual performance during reaching and grasping for objects moving in depth
Erik Domellöf, Marianne Barbu-Roth, Louise Rönnqvist, Anne-Yvonne Jacquet, and Jacqueline Fagard · 2015
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The grasp taxonomy of human grasp types
Thomas Feix, Javier Romero, Heinz-Bodo Schmiedmayer, Aaron M Dollar, and Danica Kragic · 2015
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Evidence in hand: recent discoveries and the early evolution of human manual manipulation
Tracy L Kivell · 2015
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Human-like hand use in australopithecus africanus
Matthew M. Skinner, Nicholas B. Stephens, Zewdi J. Tsegai, Alexandra C. Foote, N. Huynh Nguyen, Thomas Gross, Dieter H. Pahr, Jean-Jacques Hublin, and Tracy L. Kivell · 2015
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Learning dexterous manipulation for a soft robotic hand from human demonstrations
Abhishek Gupta, Clemens Eppner, Sergey Levine, and Pieter Abbeel · 2016
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Dex-net 2.0: Deep learning to plan robust grasps with synthetic point clouds and analytic grasp metrics
Jeffrey Mahler, Jacky Liang, Sherdil Niyaz, Michael Laskey, Richard Doan, Xinyu Liu, Juan Aparicio, and Ken Goldberg · 2017
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Grasp pose detection in point clouds
Andreas ten Pas, Marcus Gualtieri, Kate Saenko, and Robert Platt · 2017
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Synthesis and optimization of force closure grasps via sequential semidefinite programming
Hongkai Dai, Anirudha Majumdar, and Russ Tedrake · 2018
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Real-time grasp planning for multi-fingered hands by finger splitting
Yongxiang Fan, Te Tang, Hsien-Chung Lin, and Masayoshi Tomizuka · 2018
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Open3D: A modern library for 3D data processing
Qian-Yi Zhou, Jaesik Park, and Vladlen Koltun · 2018
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Contactgrasp: Functional multi-finger grasp synthesis from contact
Samarth Brahmbhatt, Ankur Handa, James Hays, and Dieter Fox · 2019
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4d spatio-temporal convnets: Minkowski convolutional neural networks
Christopher Choy, JunYoung Gwak, and Silvio Savarese · 2019
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Guided deep reinforcement learning of control policies for dexterous human-robot interaction
Sammy Christen, Stefan Stevšić, and Otmar Hilliges · 2019
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Graspness discovery in clutters for fast and accurate grasp detection
Chenxi Wang, Hao-Shu Fang, Minghao Gou, Hongjie Fang, Jin Gao, and Cewu Lu · 2021
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Dexvip: Learning dexterous grasping with human hand pose priors from video
Priyanka Mandikal and Kristen Grauman · 2022
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Dexmv: Imitation learning for dexterous manipulation from human videos
Yuzhe Qin, Yueh-Hua Wu, Shaowei Liu, Hanwen Jiang, Ruihan Yang, Yang Fu, and Xiaolong Wang · 2022
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Dvgg: Deep variational grasp generation for dextrous manipulation
Wei Wei, Daheng Li, Peng Wang, Yiming Li, Wanyi Li, Yongkang Luo, and Jun Zhong · 2022
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Gendexgrasp: Generalizable dexterous grasping
Puhao Li, Tengyu Liu, Yuyang Li, Yiran Geng, Yixin Zhu, Yaodong Yang, and Siyuan Huang · 2023
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Dexrepnet: Learning dexterous robotic grasping network with geometric and spatial hand-object representations
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Yongxiang Fan, Xinghao Zhu, and Masayoshi Tomizuka · 2019
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Learning ambidextrous robot grasping policies
Jeffrey Mahler, Matthew Matl, Vishal Satish, Michael Danielczuk, Bill DeRose, Stephen McKinley, and Ken Goldberg · 2019
Cited alongside, same era.
6-dof graspnet: Variational grasp generation for object manipulation
Arsalan Mousavian, Clemens Eppner, and Dieter Fox · 2019
Cited alongside, same era.
Ganhand: Predicting human grasp affordances in multi-object scenes
Enric Corona, Albert Pumarola, Guillem Alenya, Francesc Moreno-Noguer, and Grégory Rogez · 2020
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Deep differentiable grasp planner for high-dof grippers
Min Liu, Zherong Pan, Kai Xu, Kanishka Ganguly, and Dinesh Manocha · 2020
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Egad! an evolved grasping analysis dataset for diversity and reproducibility in robotic manipulation
Douglas Morrison, Peter Corke, and Jürgen Leitner · 2020
Cited alongside, same era.
Contactopt: Optimizing contact to improve grasps
Patrick Grady, Chengcheng Tang, Christopher D Twigg, Minh Vo, Samarth Brahmbhatt, and Charles C Kemp · 2021
Cited alongside, same era.
Qingtao Liu, Yu Cui, Qi Ye, Zhengnan Sun, Haoming Li, Gaofeng Li, Lin Shao, and Jiming Chen · 2023
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Weikang Wan, Haoran Geng, Yun Liu, Zikang Shan, Yaodong Yang, Li Yi, and He Wang · 2023
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Dexgraspnet: A large-scale robotic dexterous grasp dataset for general objects based on simulation
Ruicheng Wang, Jialiang Zhang, Jiayi Chen, Yinzhen Xu, Puhao Li, Tengyu Liu, and He Wang · 2023
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Unidexgrasp: Universal robotic dexterous grasping via learning diverse proposal generation and goal-conditioned policy
Yinzhen Xu, Weikang Wan, Jialiang Zhang, Haoran Liu, Zikang Shan, Hao Shen, Ruicheng Wang, Haoran Geng, Yijia Weng, Jiayi Chen, et al · 2023
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DextrAH-g: Pixels-to-action dexterous arm-hand grasping with geometric fabrics
Tyler Ga Wei Lum, Martin Matak, Viktor Makoviychuk, Ankur Handa, Arthur Allshire, Tucker Hermans, Nathan D. Ratliff, and Karl Van Wyk · 2024
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Learning dexterity from human hand motion in internet videos
Kenneth Shaw, Shikhar Bahl, Aravind Sivakumar, Aditya Kannan, and Deepak Pathak · 2024
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Learning human-like functional grasping for multi-finger hands from few demonstrations
Wei Wei, Peng Wang, Sizhe Wang, Yongkang Luo, Wanyi Li, Daheng Li, Yayu Huang, and Haonan Duan · 2024
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Dextrah-rgb: Visuomotor policies to grasp anything with dexterous hands, 2025
Ritvik Singh, Arthur Allshire, Ankur Handa, Nathan Ratliff, and Karl Van Wyk · 2025
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