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The ability to robustly grasp a variety of objects is essential for dexterous robots.
Planning optimal grasps
C. Ferrari and J. Canny · 1992
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A. Miller and P. Allen · 2004
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Dexterous Grasping via Eigengrasps: A Low-dimensional Approach to a High-complexity Problem
M. T. Ciocarlie, C. Goldfeder, and P. K. Allen · 2007
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Adaptive grasping by multi fingered hand with tactile sensor based on robust force and position control , 2008
T. Takahashi, T. Tsuboi, T. Kishida, Y. Kawanami, S. Shimizu, M. Iribe, T. Fukushima, and M. Fujita · 2008
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Robust Object Grasping using Force Compliant Motion Primitives
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Catching Objects in Flight
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Grasp quality measures: review and performance
M. A. Roa and R. Suárez · 2015
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The YCB object and Model set: Towards common benchmarks for manipulation research
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ShapeNet: An Information-Rich 3D Model Repository
A. X. Chang, T. Funkhouser, L. Guibas, P. Hanrahan, Q. Huang, Z. Li, S. Savarese, M. Savva, S. Song, H. Su, J. Xiao, L. Yi, and F. Yu · 2015
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Dexterous grasping under shape uncertainty
M. Li, K. Hang, D. Kragic, and A. Billard · 2016
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Per-contact iteration method for solving contact dynamics
J. Hwangbo, J. Lee, and M. Hutter · 2018
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Object-Level Impedance Control for Dexterous In-Hand Manipulation
M. Pfanne, M. Chalon, F. Stulp, H. Ritter, and A. Albu-Schäffer · 2020
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Synthesizing diverse and physically stable grasps with arbitrary hand structures using differentiable force closure estimator
T. Liu, Z. Liu, Z. Jiao, Y. Zhu, and S.-C. Zhu · 2021
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BundleTrack: 6D Pose Tracking for Novel Objects without Instance or Category-Level 3D Models
B. Wen and K. E. Bekris · 2021
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Dextransfer: Real world multi-fingered dexterous grasping with minimal human demonstrations
Z. Q. Chen, K. Van Wyk, Y.-W. Chao, W. Yang, A. Mousavian, A. Gupta, and D. Fox · 2022
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RBO Hand 3: A Platform for Soft Dexterous Manipulation
S. Puhlmann, J. Harris, and O. Brock · 2022
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Learning robust perceptive locomotion for quadrupedal robots in the wild
T. Miki, J. Lee, J. Hwangbo, L. Wellhausen, V. Koltun, and M. Hutter · 2022
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DexPoint: Generalizable Point Cloud Reinforcement Learning for Sim-to-Real Dexterous Manipulation
Y. Qin, B. Huang, Z.-H. Yin, H. Su, and X. Wang · 2022
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D-grasp: Physically plausible dynamic grasp synthesis for hand-object interactions
S. Christen, M. Kocabas, E. Aksan, J. Hwangbo, J. Song, and O. Hilliges · 2022
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Objaverse: A Universe of Annotated 3D Objects
M. Deitke, D. Schwenk, J. Salvador, L. Weihs, O. Michel, E. VanderBilt, L. Schmidt, K. Ehsani, A. Kembhavi, and A. Farhadi · 2022
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DexGraspNet: A Large-Scale Robotic Dexterous Grasp Dataset for General Objects Based on Simulation
R. Wang, J. Zhang, J. Chen, Y. Xu, P. Li, T. Liu, and H. Wang · 2023
L. Zhang, K. Bai, G. Huang, Z. Chen, and J. Zhang · 2024
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OKAMI: Teaching Humanoid Robots Manipulation Skills through Single Video Imitation
J. Li, Y. Zhu, Y. Xie, Z. Jiang, M. Seo, G. Pavlakos, and Y. Zhu · 2024
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ACE: A Cross-platfrom Visual-Exoskeletons for Low-Cost Dexterous Teleoperation
S. Yang, M. Liu, Y. Qin, D. Runyu, L. Jialong, X. Cheng, R. Yang, S. Yi, and X. Wang · 2024
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Open-TeleVision: Teleoperation with Immersive Active Visual Feedback
X. Cheng, J. Li, S. Yang, G. Yang, and X. Wang · 2024
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Geometry Matching for Multi-Embodiment Grasping
M. Attarian, M. A. Asif, J. Liu, R. Hari, A. Garg, I. Gilitschenski, and J. Tompson · 2023
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Learning continuous grasping function with a dexterous hand from human demonstrations
J. Ye, J. Wang, B. Huang, Y. Qin, and X. Wang · 2023
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Learning quadrupedal locomotion on deformable terrain
S. Choi, G. Ji, J. Park, H. Kim, J. Mun, J. H. Lee, and J. Hwangbo · 2023
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UniDexGrasp++: Improving Dexterous Grasping Policy Learning via Geometry-Aware Curriculum and Iterative Generalist-Specialist Learning
W. Wan, H. Geng, Y. Liu, Z. Shan, Y. Yang, L. Yi, and H. Wang · 2023
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A. Agarwal, S. Uppal, K. Shaw, and D. Pathak · 2023
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A. Kirillov, E. Mintun, N. Ravi, H. Mao, C. Rolland, L. Gustafson, T. Xiao, S. Whitehead, A. C. Berg, W.-Y. Lo, P. Dollár, and R. Girshick · 2023
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J. Bai, S. Bai, S. Yang, S. Wang, S. Tan, P. Wang, J. Lin, C. Zhou, and J. Zhou · 2023
Cited alongside, same era.
Z. Jiang, Y. Xie, K. Lin, Z. Xu, W. Wan, A. Mandlekar, L. Fan, and Y. Zhu · 2024
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Advancing Humanoid Locomotion: Mastering Challenging Terrains with Denoising World Model Learning
X. Gu, Y.-J. Wang, X. Zhu, C. Shi, Y. Guo, Y. Liu, and J. Chen · 2024
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Cross-Embodiment Dexterous Grasping with Reinforcement Learning
H. Yuan, B. Zhou, Y. Fu, and Z. Lu · 2024
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DextrAH-G: Pixels-to-Action Dexterous Arm-Hand Grasping with Geometric Fabrics
T. G. W. Lum, M. Matak, V. Makoviychuk, A. Handa, A. Allshire, T. Hermans, N. D. Ratliff, and K. V. Wyk · 2024
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DextrAH-RGB: Visuomotor Policies to Grasp Anything with Dexterous Hands
R. Singh, A. Allshire, A. Handa, N. Ratliff, and K. V. Wyk · 2024
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FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objects
B. Wen, W. Yang, J. Kautz, and S. Birchfield · 2024
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ManipTrans: Efficient Dexterous Bimanual Manipulation Transfer via Residual Learning
K. Li, P. Li, T. Liu, Y. Li, and S. Huang · 2025
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UniGraspTransformer: Simplified Policy Distillation for Scalable Dexterous Robotic Grasping
W. Wang, F. Wei, L. Zhou, X. Chen, L. Luo, X. Yi, Y. Zhang, Y. Liang, C. Xu, Y. Lu, J. Yang, and B. Guo · 2025
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X. Liu, J. Adalibieke, Q. Han, Y. Qin, and L. Yi · 2025
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AnyDexGrasp: General Dexterous Grasping for Different Hands with Human-level Learning Efficiency
H.-S. Fang, H. Yan, Z. Tang, H. Fang, C. Wang, and C. Lu · 2025
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DexGraspVLA: A Vision-Language-Action Framework Towards General Dexterous Grasping
Y. Zhong, X. Huang, R. Li, C. Zhang, Y. Liang, Y. Yang, and Y. Chen · 2025
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