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2002.01530
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Deep Differentiable Grasp Planner for High-DOF Grippers
4 February 2020
Min Liu
Zherong Pan
Kai Xu
Kanishka Ganguly
Tianyi Zhou
Re-assign community
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Papers citing
"Deep Differentiable Grasp Planner for High-DOF Grippers"
50 / 59 papers shown
Dexterous Robotic Piano Playing at Scale
Le Chen
Yi Zhao
Jan Schneider
Quankai Gao
Simon Guist
Cheng Qian
Juho Kannala
Bernhard Schölkopf
Joni Pajarinen
Dieter Büchler
209
0
0
04 Nov 2025
CEDex: Cross-Embodiment Dexterous Grasp Generation at Scale from Human-like Contact Representations
Z. Wu
Rolandos Alexandros Potamias
Xuyang Zhang
Zhongqun Zhang
Jiankang Deng
Shan Luo
135
5
0
29 Sep 2025
Learning Geometry-Aware Nonprehensile Pushing and Pulling with Dexterous Hands
Yunshuang Li
Yiyang Ling
Gaurav Sukhatme
Daniel Seita
276
2
0
22 Sep 2025
First Plan Then Evaluate: Use a Vectorized Motion Planner for Grasping
Martin Matak
Mohanraj Devendran Ashanti
Karl Van Wyk
Tucker Hermans
185
1
0
08 Sep 2025
GraspQP: Differentiable Optimization of Force Closure for Diverse and Robust Dexterous Grasping
René Zurbrugg
Andrei Cramariuc
Marco Hutter
121
4
0
20 Aug 2025
A Survey: Learning Embodied Intelligence from Physical Simulators and World Models
Xiaoxiao Long
Qingrui Zhao
Kaiwen Zhang
Zihao Zhang
Dingrui Wang
...
Jia Pan
Qiu Shen
Ruigang Yang
X. Cao
Qionghai Dai
LM&Ro
AI4CE
363
33
0
01 Jul 2025
Dex1B: Learning with 1B Demonstrations for Dexterous Manipulation
Jianglong Ye
Keyi Wang
Chengjing Yuan
Ruihan Yang
Yiquan Li
Jiyue Zhu
Yuzhe Qin
Xueyan Zou
Xiaolong Wang
341
19
0
20 Jun 2025
Rodrigues Network for Learning Robot Actions
Jialiang Zhang
Haoran Geng
Yang You
Congyue Deng
Pieter Abbeel
Jitendra Malik
Leonidas Guibas
AI4CE
358
1
0
03 Jun 2025
Grasp2Grasp: Vision-Based Dexterous Grasp Translation via Schrödinger Bridges
Tao Zhong
Jonah Buchanan
Christine Allen-Blanchette
288
1
0
03 Jun 2025
Designing Pin-pression Gripper and Learning its Dexterous Grasping with Online In-hand Adjustment
ACM Transactions on Graphics (TOG), 2025
Hewen Xiao
Xiuping Liu
Hang Zhao
Jian Liu
K. Xu
OnRL
509
2
0
25 May 2025
PartDexTOG: Generating Dexterous Task-Oriented Grasping via Language-driven Part Analysis
Weishang Wu
Yifei Shi
Zhizhong Chen
Zhipong Cai
320
0
0
18 May 2025
DexTOG: Learning Task-Oriented Dexterous Grasp with Language
IEEE Robotics and Automation Letters (IEEE RA-L), 2025
Jieyi Zhang
Wenqiang Xu
Zhenjun Yu
Pengfei Xie
Tutian Tang
Cewu Lu
796
7
0
06 Apr 2025
EvolvingGrasp: Evolutionary Grasp Generation via Efficient Preference Alignment
Yufei Zhu
Yiming Zhong
Zemin Yang
Peishan Cong
Jingyi Yu
X. Zhu
Y. Ma
519
4
0
18 Mar 2025
Sequential Multi-Object Grasping with One Dexterous Hand
Sicheng He
Zeyu Shangguan
Kuanning Wang
Yongchong Gu
Yuqian Fu
Yanwei Fu
Daniel Seita
349
6
0
12 Mar 2025
DexGrasp Anything: Towards Universal Robotic Dexterous Grasping with Physics Awareness
Computer Vision and Pattern Recognition (CVPR), 2025
Yiming Zhong
Qi Jiang
Jingyi Yu
Yuexin Ma
523
32
0
11 Mar 2025
AffordDexGrasp: Open-set Language-guided Dexterous Grasp with Generalizable-Instructive Affordance
Yi-Lin Wei
Mu Lin
Yuhao Lin
Jian-Jian Jiang
Xiao-Ming Wu
Ling-an Zeng
Wei-Shi Zheng
460
18
0
10 Mar 2025
LensDFF: Language-enhanced Sparse Feature Distillation for Efficient Few-Shot Dexterous Manipulation
Qian Feng
David S. Martinez Lema
Jianxiang Feng
Zhaopeng Chen
Alois C. Knoll
237
0
0
05 Mar 2025
BODex: Scalable and Efficient Robotic Dexterous Grasp Synthesis Using Bilevel Optimization
IEEE International Conference on Robotics and Automation (ICRA), 2024
Jiayi Chen
Yubin Ke
Hongan Wang
517
20
0
21 Dec 2024
Get a Grip: Multi-Finger Grasp Evaluation at Scale Enables Robust Sim-to-Real Transfer
Conference on Robot Learning (CoRL), 2024
Tyler Ga Wei Lum
Albert H. Li
Preston Culbertson
K. Srinivasan
Aaron D. Ames
Mac Schwager
Jeannette Bohg
246
14
0
31 Oct 2024
DexGraspNet 2.0: Learning Generative Dexterous Grasping in Large-scale Synthetic Cluttered Scenes
Conference on Robot Learning (CoRL), 2024
Jialiang Zhang
Haoran Liu
Danshi Li
Xinqiang Yu
Haoran Geng
Yufei Ding
Jiayi Chen
He Wang
330
64
0
30 Oct 2024
RP1M: A Large-Scale Motion Dataset for Piano Playing with Bi-Manual Dexterous Robot Hands
Conference on Robot Learning (CoRL), 2024
Yi Zhao
Le Chen
Jan Schneider
Quankai Gao
Arno Solin
Bernhard Scholkopf
Joni Pajarinen
Le Chen
242
6
0
20 Aug 2024
DiPGrasp: Parallel Local Searching for Efficient Differentiable Grasp Planning
IEEE Robotics and Automation Letters (RA-L), 2024
Wenqiang Xu
Jieyi Zhang
Tutian Tang
Zhenjun Yu
Yutong Li
Cewu Lu
342
8
0
08 Aug 2024
An Economic Framework for 6-DoF Grasp Detection
Xiao-Ming Wu
Jia-Feng Cai
Jian-Jian Jiang
Dian Zheng
Yi-Lin Wei
Wei-Shi Zheng
372
32
0
11 Jul 2024
GenHeld: Generating and Editing Handheld Objects
Chaerin Min
Srinath Sridhar
473
0
0
07 Jun 2024
Grasp as You Say: Language-guided Dexterous Grasp Generation
Yi-Lin Wei
Jian-Jian Jiang
Chengyi Xing
Xiantuo Tan
Xiao-Ming Wu
Hao Li
M. Cutkosky
Wei-Shi Zheng
274
51
0
29 May 2024
Dexterous Grasp Transformer
Guo-Hao Xu
Yi-Lin Wei
Dian Zheng
Xiao-Ming Wu
Wei-Shi Zheng
ViT
337
22
0
28 Apr 2024
Physics-Aware Iterative Learning and Prediction of Saliency Map for Bimanual Grasp Planning
Shi-yao Wang
Xiuping Liu
Charlie C. L. Wang
Jian Liu
267
2
0
13 Apr 2024
ContactDexNet: Multi-fingered Robotic Hand Grasping in Cluttered Environments through Hand-object Contact Semantic Mapping
Lei Zhang
Kaixin Bai
Guowen Huang
Zhenshan Bing
Zhaopeng Chen
Alois Knoll
Jianwei Zhang
367
7
0
12 Apr 2024
SemGrasp: Semantic Grasp Generation via Language Aligned Discretization
European Conference on Computer Vision (ECCV), 2024
Kailin Li
Jingbo Wang
Lixin Yang
Cewu Lu
Bo Dai
320
37
0
04 Apr 2024
Generalizing 6-DoF Grasp Detection via Domain Prior Knowledge
Computer Vision and Pattern Recognition (CVPR), 2024
Haoxiang Ma
Modi Shi
Boyang Gao
Di Huang
323
13
0
02 Apr 2024
MultiGripperGrasp: A Dataset for Robotic Grasping from Parallel Jaw Grippers to Dexterous Hands
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2024
Luis Felipe Casas Murillo
Ninad Khargonkar
Balakrishnan Prabhakaran
Yu Xiang
279
28
0
14 Mar 2024
Toward An Analytic Theory of Intrinsic Robustness for Dexterous Grasping
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2024
Albert H. Li
Preston Culbertson
Aaron D. Ames
173
0
0
12 Mar 2024
RealDex: Towards Human-like Grasping for Robotic Dexterous Hand
Yumeng Liu
Yaxun Yang
Youzhuo Wang
Xiaofei Wu
Jiamin Wang
...
Sibei Yang
Wenping Wang
Jingyi Yu
Xuming He
Yuexin Ma
359
48
0
21 Feb 2024
UGG: Unified Generative Grasping
European Conference on Computer Vision (ECCV), 2023
Jiaxin Lu
Hao Kang
Haoxiang Li
Bo Liu
Yiding Yang
Qixing Huang
Gang Hua
388
39
0
28 Nov 2023
Intersection-free Robot Manipulation with Soft-Rigid Coupled Incremental Potential Contact
IEEE Robotics and Automation Letters (RA-L), 2023
Wenxin Du
Siqiong Yao
Xinlei Wang
Yuhang Xu
Wenqiang Xu
Cewu Lu
272
9
0
10 Nov 2023
Combining Shape Completion and Grasp Prediction for Fast and Versatile Grasping with a Multi-Fingered Hand
IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2023
Matthias Humt
Dominik Winkelbauer
Ulrich Hillenbrand
Berthold Bäuml
300
9
0
31 Oct 2023
Grasp Multiple Objects with One Hand
IEEE Robotics and Automation Letters (RA-L), 2023
Yuyang Li
Bo Liu
Yiran Geng
Puhao Li
Yaodong Yang
Yixin Zhu
Tengyu Liu
Siyuan Huang
360
43
0
24 Oct 2023
PONG: Probabilistic Object Normals for Grasping via Analytic Bounds on Force Closure Probability
Albert H. Li
Preston Culbertson
Aaron D. Ames
398
1
0
29 Sep 2023
AffordPose: A Large-scale Dataset of Hand-Object Interactions with Affordance-driven Hand Pose
IEEE International Conference on Computer Vision (ICCV), 2023
Ju Jian
Xiuping Liu
Manyi Li
Ruizhen Hu
Jian Liu
269
73
0
16 Sep 2023
GraspGF: Learning Score-based Grasping Primitive for Human-assisting Dexterous Grasping
Neural Information Processing Systems (NeurIPS), 2023
Tianhao Wu
Mingdong Wu
Jiyao Zhang
Yunchong Gan
Hao Dong
673
32
0
12 Sep 2023
DMFC-GraspNet: Differentiable Multi-Fingered Robotic Grasp Generation in Cluttered Scenes
Philipp Blättner
Johannes Brand
Gerhard Neumann
Ngo Anh Vien
408
1
0
01 Aug 2023
Fast-Grasp'D: Dexterous Multi-finger Grasp Generation Through Differentiable Simulation
IEEE International Conference on Robotics and Automation (ICRA), 2023
Dylan Turpin
Tao P. Zhong
Shutong Zhang
Guanglei Zhu
Jingzhou Liu
...
Eric Heiden
Lukasz Wawrzyniak
Stavros Tsogkas
Sven J. Dickinson
Animesh Garg
362
58
0
13 Jun 2023
Generalized Anthropomorphic Functional Grasping with Minimal Demonstrations
Wei Wei
Peng Wang
S. Wang
268
12
0
31 Mar 2023
CAMS: CAnonicalized Manipulation Spaces for Category-Level Functional Hand-Object Manipulation Synthesis
Computer Vision and Pattern Recognition (CVPR), 2023
Juntian Zheng
Qingyuan Zheng
Lixing Fang
Yun-Hai Liu
Li Yi
353
62
0
25 Mar 2023
CMG-Net: An End-to-End Contact-Based Multi-Finger Dexterous Grasping Network
IEEE International Conference on Robotics and Automation (ICRA), 2023
Mingze Wei
Yaomin Huang
Zhiyuan Xu
Ning Liu
Zhengping Che
Xinyu Zhang
Yaxin Peng
Feifei Feng
Chunhua Shan
Jian Tang
202
3
0
23 Mar 2023
DexRepNet: Learning Dexterous Robotic Grasping Network with Geometric and Spatial Hand-Object Representations
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2023
Qingtao Liu
Yu Cui
Qi Ye
Zheng Sun
Haoming Li
Gaofeng Li
Lin Shao
Jiming Chen
245
35
0
17 Mar 2023
UniDexGrasp: Universal Robotic Dexterous Grasping via Learning Diverse Proposal Generation and Goal-Conditioned Policy
Computer Vision and Pattern Recognition (CVPR), 2023
Yinzhen Xu
Weikang Wan
Jialiang Zhang
Haoran Liu
Zikang Shan
...
Yijia Weng
Jiayi Chen
Tengyu Liu
Li Yi
He Wang
506
186
0
02 Mar 2023
FRoGGeR: Fast Robust Grasp Generation via the Min-Weight Metric
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2023
Albert H. Li
Preston Culbertson
J. W. Burdick
Aaron D. Ames
OffRL
344
22
0
27 Feb 2023
DVGG: Deep Variational Grasp Generation for Dextrous Manipulation
IEEE Robotics and Automation Letters (RA-L), 2022
Wei Wei
Daheng Li
Peng Wang
Yiming Li
Wanyi Li
Yongkang Luo
Jun Zhong
221
63
0
21 Nov 2022
CoGrasp: 6-DoF Grasp Generation for Human-Robot Collaboration
IEEE International Conference on Robotics and Automation (ICRA), 2022
Abhinav K. Keshari
Hanwen Ren
A. H. Qureshi
244
11
0
06 Oct 2022
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