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UniDexGrasp: Universal Robotic Dexterous Grasping via Learning Diverse Proposal Generation and Goal-Conditioned Policy
Computer Vision and Pattern Recognition (CVPR), 2023
2 March 2023
Yinzhen Xu
Weikang Wan
Jialiang Zhang
Haoran Liu
Zikang Shan
Hao Shen
Ruicheng Wang
Haoran Geng
Yijia Weng
Jiayi Chen
Tengyu Liu
Li Yi
He Wang
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Papers citing
"UniDexGrasp: Universal Robotic Dexterous Grasping via Learning Diverse Proposal Generation and Goal-Conditioned Policy"
50 / 57 papers shown
Title
METIS: Multi-Source Egocentric Training for Integrated Dexterous Vision-Language-Action Model
Y. Fu
Ning Chen
Junkai Zhao
Shaozhe Shan
Guocai Yao
Pengwei Wang
Zhongyuan Wang
Shanghang Zhang
124
0
0
21 Nov 2025
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
120
0
0
04 Nov 2025
OmniDexGrasp: Generalizable Dexterous Grasping via Foundation Model and Force Feedback
Yi-Lin Wei
Zhexi Luo
Yuhao Lin
Mu Lin
Zhizhao Liang
Shuoyu Chen
Wei-Shi Zheng
85
0
0
27 Oct 2025
GRASPLAT: Enabling dexterous grasping through novel view synthesis
M. Bortolon
Nuno Ferreira Duarte
Plinio Moreno
Fabio Poiesi
J. Santos-Victor
Alessio Del Bue
97
0
0
22 Oct 2025
RM-RL: Role-Model Reinforcement Learning for Precise Robot Manipulation
Xiangyu Chen
Chuhao Zhou
Yuxi Liu
Jianfei Yang
OffRL
104
0
0
16 Oct 2025
T(R,O) Grasp: Efficient Graph Diffusion of Robot-Object Spatial Transformation for Cross-Embodiment Dexterous Grasping
Xin Fei
Zhixuan Xu
Huaicong Fang
Tianrui Zhang
Lin Shao
68
0
0
14 Oct 2025
DexMan: Learning Bimanual Dexterous Manipulation from Human and Generated Videos
Jhen Hsieh
Kuan-Hsun Tu
Kuo-Han Hung
Tsung-Wei Ke
100
0
0
09 Oct 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
52
1
0
29 Sep 2025
GES-UniGrasp: A Two-Stage Dexterous Grasping Strategy With Geometry-Based Expert Selection
Fangting Xu
Jilin Zhu
Xiaoming Gu
Jianzhong Tang
60
0
0
28 Sep 2025
DemoGrasp: Universal Dexterous Grasping from a Single Demonstration
Haoqi Yuan
Ziye Huang
Ye Wang
Chuan Mao
Chaoyi Xu
Zongqing Lu
92
1
0
26 Sep 2025
DHAGrasp: Synthesizing Affordance-Aware Dual-Hand Grasps with Text Instructions
Quanzhou Li
Zhonghua Wu
Jingbo Wang
Chen Change Loy
Bo Dai
56
0
0
26 Sep 2025
Learning Dexterous Manipulation with Quantized Hand State
Ying Feng
Hongjie Fang
Yinong He
Jingjing Chen
Chenxi Wang
Zihao He
Ruonan Liu
Cewu Lu
88
0
0
22 Sep 2025
Grasp Like Humans: Learning Generalizable Multi-Fingered Grasping from Human Proprioceptive Sensorimotor Integration
IEEE Transactions on robotics (IEEE TRO), 2025
Ce Guo
Xieyuanli Chen
Zhiwen Zeng
Zirui Guo
Yihong Li
Haoran Xiao
Dewen Hu
Huimin Lu
56
1
0
10 Sep 2025
Learning Game-Playing Agents with Generative Code Optimization
Zhiyi Kuang
Ryan Rong
YuCheng Yuan
Allen Nie
LLMAG
70
0
0
27 Aug 2025
LodeStar: Long-horizon Dexterity via Synthetic Data Augmentation from Human Demonstrations
Weikang Wan
Jiawei Fu
Xiaodi Yuan
Yifeng Zhu
Hao Su
88
3
0
24 Aug 2025
Towards Affordance-Aware Robotic Dexterous Grasping with Human-like Priors
Haoyu Zhao
Linghao Zhuang
Xingyue Zhao
Cheng Zeng
Haoran Xu
...
Jiayan Guo
Siteng Huang
Xin Li
Deli Zhao
Hua Zou
172
2
0
12 Aug 2025
DreamVLA: A Vision-Language-Action Model Dreamed with Comprehensive World Knowledge
Wenyao Zhang
Hongsi Liu
Zekun Qi
Yunnan Wang
X. Yu
...
He Wang
Dongbin Zhao
Li Yi
Wenjun Zeng
Xin Jin
VLM
165
31
0
06 Jul 2025
ViTacFormer: Learning Cross-Modal Representation for Visuo-Tactile Dexterous Manipulation
Liang Heng
Haoran Geng
Kaifeng Zhang
Pieter Abbeel
Jitendra Malik
124
9
0
19 Jun 2025
Bigger, Regularized, Categorical: High-Capacity Value Functions are Efficient Multi-Task Learners
Michal Nauman
Marek Cygan
Carmelo Sferrazza
Aviral Kumar
Pieter Abbeel
OffRL
208
6
0
29 May 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
378
0
0
25 May 2025
DexFlow: A Unified Approach for Dexterous Hand Pose Retargeting and Interaction
Xiaoyi Lin
Kunpeng Yao
Lixin Xu
Xinyu Wang
Xuetao Li
Yijiao Wang
Miao Li
207
0
0
02 May 2025
RoboVerse: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learning
Haoran Geng
Feishi Wang
Songlin Wei
Yuchen Ren
Bangjun Wang
...
Hao Dong
Siyuan Huang
Yue Wang
Jitendra Malik
Pieter Abbeel
388
34
0
26 Apr 2025
Dexonomy: Synthesizing All Dexterous Grasp Types in a Grasp Taxonomy
Jiayi Chen
Yubin Ke
Lin Peng
He Wang
242
10
0
26 Apr 2025
Few-Shot Vision-Language Action-Incremental Policy Learning
Mingchen Song
Xiang Deng
Guoqiang Zhong
Qi Lv
Jia Wan
Yinchuan Li
Haifeng Zhang
Weili Guan
214
1
0
22 Apr 2025
Crossing the Human-Robot Embodiment Gap with Sim-to-Real RL using One Human Demonstration
Tyler Ga Wei Lum
Olivia Y. Lee
C. Karen Liu
Jeannette Bohg
343
13
0
17 Apr 2025
DexSinGrasp: Learning a Unified Policy for Dexterous Object Singulation and Grasping in Densely Cluttered Environments
Lixin Xu
Zixuan Liu
Zhewei Gui
Jingxiang Guo
Zeyu Jiang
Tongzhou Zhang
Zhixuan Xu
Chongkai Gao
Lin Shao
277
0
0
06 Apr 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
610
5
0
06 Apr 2025
Grasping a Handful: Sequential Multi-Object Dexterous Grasp Generation
IEEE Robotics and Automation Letters (IEEE RA-L), 2025
Haofei Lu
Yifei Dong
Zehang Weng
Jens Lundell
Jens Lundell
Danica Kragic
327
1
0
28 Mar 2025
G-DexGrasp: Generalizable Dexterous Grasping Synthesis Via Part-Aware Prior Retrieval and Prior-Assisted Generation
Juntao Jian
Xiuping Liu
Z. Chen
Manyi Li
Jian Liu
Ruizhen Hu
205
4
0
25 Mar 2025
EvolvingGrasp: Evolutionary Grasp Generation via Efficient Preference Alignment
Yufei Zhu
Yiming Zhong
Zemin Yang
Peishan Cong
Jingyi Yu
X. Zhu
Y. Ma
306
2
0
18 Mar 2025
MoMa-Kitchen: A 100K+ Benchmark for Affordance-Grounded Last-Mile Navigation in Mobile Manipulation
P. Zhang
Xianqiang Gao
Yuhan Wu
Pengan Chen
Dong Wang
Zechuan Wang
Jiangwei Zhong
Yan Ding
Xiaochen Li
LM&Ro
205
11
0
14 Mar 2025
Sequential Multi-Object Grasping with One Dexterous Hand
Sicheng He
Zeyu Shangguan
Kuanning Wang
Yongchong Gu
Yuqian Fu
Yanwei Fu
Daniel Seita
183
4
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
370
17
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
333
11
0
10 Mar 2025
Generative Artificial Intelligence in Robotic Manipulation: A Survey
Kun Zhang
Peng Yun
Jun Cen
Junhao Cai
DiDi Zhu
...
Qifeng Chen
Jia Pan
Wei Zhang
Bo Yang
Hua Chen
537
11
0
05 Mar 2025
DexTrack: Towards Generalizable Neural Tracking Control for Dexterous Manipulation from Human References
International Conference on Learning Representations (ICLR), 2025
Xueyi Liu
Jianibieke Adalibieke
Qianwei Han
Yuzhe Qin
Li Yi
387
10
0
13 Feb 2025
Dexterous Cable Manipulation: Taxonomy, Multi-Fingered Hand Design, and Long-Horizon Manipulation
Sun Zhaole
Xiao Gao
Xiaofeng Mao
Jihong Zhu
A. Billard
Robert B. Fisher
498
2
0
01 Feb 2025
SynH2R: Synthesizing Hand-Object Motions for Learning Human-to-Robot Handovers
IEEE International Conference on Robotics and Automation (ICRA), 2023
Sammy Christen
Lan Feng
Wei Yang
Yu-Wei Chao
Otmar Hilliges
Mingli Song
358
20
0
03 Jan 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
297
12
0
21 Dec 2024
Grasp What You Want: Embodied Dexterous Grasping System Driven by Your Voice
Junliang Li
Kai Ye
Haolan Kang
Mingxuan Liang
Yuhang Wu
Zhenhua Liu
Huiping Zhuang
Rui Huang
Yongquan Chen
241
2
0
14 Dec 2024
DextrAH-RGB: Visuomotor Policies to Grasp Anything with Dexterous Hands
Ritvik Singh
Arthur Allshire
Ankur Handa
Nathan D. Ratliff
Karl Van Wyk
260
32
0
27 Nov 2024
Local Policies Enable Zero-shot Long-horizon Manipulation
IEEE International Conference on Robotics and Automation (ICRA), 2024
Murtaza Dalal
Min Liu
Walter Talbott
Chen Chen
Deepak Pathak
Jian Zhang
Ruslan Salakhutdinov
316
22
0
29 Oct 2024
RegionGrasp: A Novel Task for Contact Region Controllable Hand Grasp Generation
Yilin Wang
Chuan Guo
Li Cheng
Hai Jiang
163
1
0
10 Oct 2024
Learning Diverse Bimanual Dexterous Manipulation Skills from Human Demonstrations
Bohan Zhou
Haoqi Yuan
Yuhui Fu
Zongqing Lu
201
21
0
03 Oct 2024
KineDepth: Utilizing Robot Kinematics for Online Metric Depth Estimation
Soofiyan Atar
Yuheng Zhi
Florian Richter
Michael C. Yip
MDE
359
2
0
29 Sep 2024
Hand-Object Interaction Pretraining from Videos
IEEE International Conference on Robotics and Automation (ICRA), 2024
Himanshu Gaurav Singh
Antonio Loquercio
Carmelo Sferrazza
Jane Wu
Haozhi Qi
Pieter Abbeel
Jitendra Malik
178
32
0
12 Sep 2024
DexGANGrasp: Dexterous Generative Adversarial Grasping Synthesis for Task-Oriented Manipulation
Qian Feng
David S. Martinez Lema
M. Malmir
Hang Li
Jianxiang Feng
Zhaopeng Chen
Alois C. Knoll
241
11
0
24 Jul 2024
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
Karl Van Wyk
250
38
0
02 Jul 2024
ViViDex: Learning Vision-based Dexterous Manipulation from Human Videos
Zerui Chen
Shizhe Chen
Cordelia Schmid
Ivan Laptev
Cordelia Schmid
407
28
0
24 Apr 2024
GEARS: Local Geometry-aware Hand-object Interaction Synthesis
Computer Vision and Pattern Recognition (CVPR), 2024
Keyang Zhou
Bharat Lal Bhatnagar
J. E. Lenssen
Gerard Pons-Moll
367
22
0
02 Apr 2024
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