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As large models gain traction, vision-language-action (VLA) systems are enabling robots to tackle increasingly complex tasks.
Planning optimal grasps
Carlo Ferrari, John F Canny, et al · 1992
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Easy and fast evaluation of grasp stability by using ellipsoidal approximation of friction cone
Tokuo Tsuji, Kensuke Harada, and Kenji Kaneko · 2009
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Measurement of areas on a sphere using fibonacci and latitude–longitude lattices
Álvaro González · 2010
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Dex-net 2.0: Deep learning to plan robust grasps with synthetic point clouds and analytic grasp metrics, 2017
Jeffrey Mahler, Jacky Liang, Sherdil Niyaz, Michael Laskey, Richard Doan, Xinyu Liu, Juan Aparicio Ojea, and Ken Goldberg · 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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Ffjord: Free-form continuous dynamics for scalable reversible generative models, 2018
Will Grathwohl, Ricky T. Q. Chen, Jesse Bettencourt, Ilya Sutskever, and David Duvenaud · 2018
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Graspnet-1billion: A large-scale benchmark for general object grasping
Hao-Shu Fang, Chenxi Wang, Minghao Gou, and Cewu Lu · 2020
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Manifoldplus: A robust and scalable watertight manifold surface generation method for triangle soups
Jingwei Huang, Yichao Zhou, and Leonidas Guibas · 2020
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Incremental potential contact: intersection-and inversion-free, large-deformation dynamics
Minchen Li, Zachary Ferguson, Teseo Schneider, Timothy R Langlois, Denis Zorin, Daniele Panozzo, Chenfanfu Jiang, and Danny M Kaufman · 2020
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An image is worth 16x16 words: Transformers for image recognition at scale
Alexey Dosovitskiy, Lucas Beyer, Alexander Kolesnikov, Dirk Weissenborn, Xiaohua Zhai, Thomas Unterthiner, Mostafa Dehghani, Matthias Minderer, Georg Heigold, Sylvain Gelly, Jakob Uszkoreit, and Neil Houlsby · 2021
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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, and Gavriel State · 2021
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Learning transferable visual models from natural language supervision
Alec Radford, Jong Wook Kim, Chris Hallacy, Aditya Ramesh, Gabriel Goh, Sandhini Agarwal, Girish Sastry, Amanda Askell, Pamela Mishkin, Jack Clark, et al · 2021
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Point transformer
Hengshuang Zhao, Li Jiang, Jiaya Jia, Philip HS Torr, and Vladlen Koltun · 2021
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Learning robust real-world dexterous grasping policies via implicit shape augmentation
Zoey Qiuyu Chen, Karl Van Wyk, Yu-Wei Chao, Wei Yang, Arsalan Mousavian, Abhishek Gupta, and Dieter Fox · 2022
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Grasp’d: Differentiable contact-rich grasp synthesis for multi-fingered hands
Dylan Turpin, Liquan Wang, Eric Heiden, Yun-Chun Chen, Miles Macklin, Stavros Tsogkas, Sven Dickinson, and Animesh Garg · 2022
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Approximate convex decomposition for 3d meshes with collision-aware concavity and tree search
Xinyue Wei, Minghua Liu, Zhan Ling, and Hao Su · 2022
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Oakink: A large-scale knowledge repository for understanding hand-object interaction
Lixin Yang, Kailin Li, Xinyu Zhan, Fei Wu, Anran Xu, Liu Liu, and Cewu Lu · 2022
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Josh Achiam, Steven Adler, Sandhini Agarwal, Lama Ahmad, Ilge Akkaya, Florencia Leoni Aleman, Diogo Almeida, Janko Altenschmidt, Sam Altman, Shyamal Anadkat, et al · 2023
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Dexterous functional grasping
Ananye Agarwal, Shagun Uppal, Kenneth Shaw, and Deepak Pathak · 2023
Cited alongside, same era.
Rt-2: Vision-language-action models transfer web knowledge to robotic control
Anthony Brohan, Noah Brown, Justice Carbajal, Yevgen Chebotar, Xi Chen, Krzysztof Choromanski, Tianli Ding, Danny Driess, Avinava Dubey, Chelsea Finn, et al · 2023
Cited alongside, same era.
Task-oriented dexterous grasp synthesis via differentiable grasp wrench boundary estimator
Jiayi Chen, Yuxing Chen, Jialiang Zhang, and He Wang · 2023
Cited alongside, same era.
Objaverse: A universe of annotated 3d objects
Matt Deitke, Dustin Schwenk, Jordi Salvador, Luca Weihs, Oscar Michel, Eli VanderBilt, Ludwig Schmidt, Kiana Ehsani, Aniruddha Kembhavi, and Ali Farhadi · 2023
Cited alongside, same era.
Autoencoders as cross-modal teachers: Can pretrained 2d image transformers help 3d representation learning?
Runpei Dong, Zekun Qi, Linfeng Zhang, Junbo Zhang, Jianjian Sun, Zheng Ge, Li Yi, and Kaisheng Ma · 2023
Dexfuncgrasp: A robotic dexterous functional grasp dataset constructed from a cost-effective real-simulation annotation system
Jinglue Hang, Xiangbo Lin, Tianqiang Zhu, Xuanheng Li, Rina Wu, Xiaohong Ma, and Yi Sun · 2024
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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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Openvla: An open-source vision-language-action model
Moo Jin Kim, Karl Pertsch, Siddharth Karamcheti, Ted Xiao, Ashwin Balakrishna, Suraj Nair, Rafael Rafailov, Ethan Foster, Grace Lam, Pannag Sanketi, et al · 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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Cited alongside, same era.
Tracking objects with 3d representation from videos
Jiawei He, Lue Fan, Yuqi Wang, Yuntao Chen, Zehao Huang, Naiyan Wang, and Zhaoxiang Zhang · 2023
Cited alongside, same era.
Frogger: Fast robust grasp generation via the min-weight metric
Albert H Li, Preston Culbertson, Joel W Burdick, and Aaron D Ames · 2023
Cited alongside, same era.
Cross-shape attention for part segmentation of 3d point clouds
Marios Loizou, Siddhant Garg, Dmitry Petrov, Melinos Averkiou, and Evangelos Kalogerakis · 2023
Cited alongside, same era.
Anyteleop: A general vision-based dexterous robot arm-hand teleoperation system
Yuzhe Qin, Wei Yang, Binghao Huang, Karl Van Wyk, Hao Su, Xiaolong Wang, Yu-Wei Chao, and Dieter Fox · 2023
Cited alongside, same era.
Curobo: Parallelized collision-free robot motion generation
Balakumar Sundaralingam, Siva Kumar Sastry Hari, Adam Fishman, Caelan Garrett, Karl Van Wyk, Valts Blukis, Alexander Millane, Helen Oleynikova, Ankur Handa, Fabio Ramos, et al · 2023
Cited alongside, same era.
Gemini: a family of highly capable multimodal models
Gemini Team, Rohan Anil, Sebastian Borgeaud, Jean-Baptiste Alayrac, Jiahui Yu, Radu Soricut, Johan Schalkwyk, Andrew M Dai, Anja Hauth, Katie Millican, et al · 2023
Cited alongside, same era.
Fast-grasp’d: Dexterous multi-finger grasp generation through differentiable simulation
Dylan Turpin, Tao Zhong, Shutong Zhang, Guanglei Zhu, Eric Heiden, Miles Macklin, Stavros Tsogkas, Sven Dickinson, and Animesh Garg · 2023
Cited alongside, same era.
Moka: Open-vocabulary robotic manipulation through mark-based visual prompting
Fangchen Liu, Kuan Fang, Pieter Abbeel, and Sergey Levine · 2024
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Ziqi Ma, Yisong Yue, and Georgia Gkioxari · 2024
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Introducing gpt-4o and more tools to chatgpt free users
OpenAI · 2024
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Segment any mesh: Zero-shot mesh part segmentation via lifting segment anything 2 to 3d
George Tang, William Zhao, Logan Ford, David Benhaim, and Paul Zhang · 2024
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Octo: An open-source generalist robot policy
Octo Model Team, Dibya Ghosh, Homer Walke, Karl Pertsch, Kevin Black, Oier Mees, Sudeep Dasari, Joey Hejna, Tobias Kreiman, Charles Xu, et al · 2024
Later among the works it cites.
Grasp as you say: Language-guided dexterous grasp generation
Yi-Lin Wei, Jian-Jian Jiang, Chengyi Xing, Xian-Tuo Tan, Xiao-Ming Wu, Hao Li, Mark Cutkosky, and Wei-Shi Zheng · 2024
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Cross-category functional grasp transfer
Rina Wu, Tianqiang Zhu, Xiangbo Lin, and Yi Sun · 2024
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Florence-2: Advancing a unified representation for a variety of vision tasks
Bin Xiao, Haiping Wu, Weijian Xu, Xiyang Dai, Houdong Hu, Yumao Lu, Michael Zeng, Ce Liu, and Lu Yuan · 2024
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Dexterous grasp transformer, 2024
Guo-Hao Xu, Yi-Lin Wei, Dian Zheng, Xiao-Ming Wu, and Wei-Shi Zheng · 2024
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Sampart3d: Segment any part in 3d objects
Yunhan Yang, Yukun Huang, Yuan-Chen Guo, Liangjun Lu, Xiaoyang Wu, Edmund Y Lam, Yan-Pei Cao, and Xihui Liu · 2024
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Uni3d: Exploring unified 3d representation at scale
Junsheng Zhou, Jinsheng Wang, Baorui Ma, Yu-Shen Liu, Tiejun Huang, and Xinlong Wang · 2024
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Omnispatial: Towards comprehensive spatial reasoning benchmark for vision language models
Mengdi Jia, Zekun Qi, Shaochen Zhang, Wenyao Zhang, Xinqiang Yu, Jiawei He, He Wang, and Li Yi · 2025
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Semgrasp: Semantic grasp generation via language aligned discretization
Kailin Li, Jingbo Wang, Lixin Yang, Cewu Lu, and Bo Dai · 2025
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Xueyi Liu, Jianibieke Adalibieke, Qianwei Han, Yuzhe Qin, and Li Yi · 2025
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Transfusion: Predict the next token and diffuse images with one multi-modal model
Chunting Zhou, LILI YU, Arun Babu, Kushal Tirumala, Michihiro Yasunaga, Leonid Shamis, Jacob Kahn, Xuezhe Ma, Luke Zettlemoyer, and Omer Levy · 2025
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