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Dexterous robotic hands often struggle to generalize effectively in complex environments due to the limitations of models trained on low-diversity data.
Planning optimal grasps
Carlo Ferrari, John Canny, et al · 1992
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On characterizing and computing three-and four-finger force-closure grasps of polyhedral objects
Jean Ponce, Steve Sullivan, J-D Boissonnat, and J-P Merlet · 1993
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Yang Song, Jascha Sohl-Dickstein, Diederik P Kingma, Abhishek Kumar, Stefano Ermon, and Ben Poole · 2011
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On the synthesis of feasible and prehensile robotic grasps
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Synthesis and optimization of force closure grasps via sequential semidefinite programming
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Deep differentiable grasp planner for high-dof grippers
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Omid Taheri, Nima Ghorbani, Michael J Black, and Dimitrios Tzionas · 2020
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Diffusion models beat gans on image synthesis
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Hand-object contact consistency reasoning for human grasps generation
Hanwen Jiang, Shaowei Liu, Jiashun Wang, and Xiaolong Wang · 2021
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Synthesizing diverse and physically stable grasps with arbitrary hand structures using differentiable force closure estimator
Tengyu Liu, Zeyu Liu, Ziyuan Jiao, Yixin Zhu, and Song-Chun Zhu · 2021
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Isaac gym: High performance gpu-based physics simulation for robot learning
Viktor Makoviychuk, Lukasz Wawrzyniak, Yunrong Guo, Michelle Lu, Kier Storey, Miles Macklin, David Hoeller, Nikita Rudin, Arthur Allshire, Ankur Handa, et al · 2021
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Diffusion posterior sampling for general noisy inverse problems
Hyungjin Chung, Jeongsol Kim, Michael T Mccann, Marc L Klasky, and Jong Chul Ye · 2022
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Lora: Low-rank adaptation of large language models
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Embodied hands: Modeling and capturing hands and bodies together
Javier Romero, Dimitrios Tzionas, and Michael J Black · 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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Training diffusion models with reinforcement learning
Kevin Black, Michael Janner, Yilun Du, Ilya Kostrikov, and Sergey Levine · 2023
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Directly fine-tuning diffusion models on differentiable rewards
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Fungrasp: Functional grasping for diverse dexterous hands
Linyi Huang, Hui Zhang, Zijian Wu, Sammy Christen, and Jie Song · 2024
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Multi-graspllm: A multimodal llm for multi-hand semantic guided grasp generation
Haosheng Li, Weixin Mao, Weipeng Deng, Chenyu Meng, Haoqiang Fan, Tiancai Wang, Ping Tan, Hongan Wang, and Xiaoming Deng · 2024
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Realdex: Towards human-like grasping for robotic dexterous hand
Yumeng Liu, Yaxun Yang, Youzhuo Wang, Xiaofei Wu, Jiamin Wang, Yichen Yao, Sören Schwertfeger, Sibei Yang, Wenping Wang, Jingyi Yu, et al · 2024
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Simplifying, stabilizing and scaling continuous-time consistency models
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Diffusion-based generation, optimization, and planning in 3d scenes
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Consistency trajectory models: Learning probability flow ode trajectory of diffusion
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Gendexgrasp: Generalizable dexterous grasping
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Direct preference optimization: Your language model is secretly a reward model
Rafael Rafailov, Archit Sharma, Eric Mitchell, Christopher D Manning, Stefano Ermon, and Chelsea Finn · 2023
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Dexgraspnet: A large-scale robotic dexterous grasp dataset for general objects based on simulation
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Diffusion model alignment using direct preference optimization
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Grasp as you say: Language-guided dexterous grasp generation
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Dexdiffuser: Generating dexterous grasps with diffusion models
Zehang Weng, Haofei Lu, Danica Kragic, and Jens Lundell · 2024
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Dexterous grasp transformer
Guo-Hao Xu, Yi-Lin Wei, Dian Zheng, Xiao-Ming Wu, and Wei-Shi Zheng · 2024
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Artigrasp: Physically plausible synthesis of bi-manual dexterous grasping and articulation
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Fdpp: Fine-tune diffusion policy with human preference
Yuxin Chen, Devesh K Jha, Masayoshi Tomizuka, and Diego Romeres · 2025
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Dexgraspanything: Towards universal robotic dexterous grasping with physics awareness
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Dreamdpo: Aligning text-to-3d generation with human preferences via direct preference optimization
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