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UniDexGrasp++: Improving Dexterous Grasping Policy Learning via Geometry-aware Curriculum and Iterative Generalist-Specialist Learning

IEEE International Conference on Computer Vision (ICCV), 2023

2 April 2023

Papers citing "UniDexGrasp++: Improving Dexterous Grasping Policy Learning via Geometry-aware Curriculum and Iterative Generalist-Specialist Learning"

50 / 101 papers shown

Title
VacuumVLA: Boosting VLA Capabilities via a Unified Suction and Gripping Tool for Complex Robotic Manipulation Hui Zhou Siyuan Huang Minxing Li Hao Zhang Lue Fan Shaoshuai Shi 136 0 0 26 Nov 2025
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 128 0 0 21 Nov 2025
QAL: A Loss for Recall Precision Balance in 3D Reconstruction P. Meshram Yash Turkar Kartikeya Singh Praveen Raj Masilamani Charuvahan Adhivarahan Karthik Dantu 56 0 0 21 Nov 2025
Leveraging CVAE for Joint Configuration Estimation of Multifingered Grippers from Point Cloud Data Julien Merand Boris Meden Mathieu Grossard 3DPC 133 0 0 21 Nov 2025
Gentle Manipulation Policy Learning via Demonstrations from VLM Planned Atomic Skills Jiayu Zhou Qiwei Wu Jian Li Z. Chen Xiaogang Xiong Renjing Xu OffRL LM&Ro 404 0 0 08 Nov 2025
Scaling Cross-Embodiment World Models for Dexterous Manipulation Zihao He Bo Ai Tongzhou Mu Yulin Liu Weikang Wan Jiawei Fu Yilun Du Henrik I. Christensen H. Su 162 1 0 03 Nov 2025
Towards a Multi-Embodied Grasping Agent Roman Freiberg Alexander Qualmann Ngo Anh Vien Gerhard Neumann 80 0 0 31 Oct 2025
RM-RL: Role-Model Reinforcement Learning for Precise Robot Manipulation Xiangyu Chen Chuhao Zhou Yuxi Liu Jianfei Yang OffRL 116 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 92 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 120 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 96 2 0 26 Sep 2025
D3Grasp: Diverse and Deformable Dexterous Grasping for General Objects Keyu Wang Bingcong Lu Zhengxue Cheng Hengdi Zhang Li Song 96 0 0 24 Sep 2025
Grasp Like Humans: Learning Generalizable Multi-Fingered Grasping from Human Proprioceptive Sensorimotor IntegrationIEEE 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
HERMES: Human-to-Robot Embodied Learning from Multi-Source Motion Data for Mobile Dexterous Manipulation Zhecheng Yuan Tianming Wei Langzhe Gu Pu Hua Tianhai Liang Yuanpei Chen Huazhe Xu 148 8 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 92 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
The Developments and Challenges towards Dexterous and Embodied Robotic Manipulation: A Survey Gaofeng Li Ruize Wang Peisen Xu Qi Ye Jiming Chen 64 4 0 16 Jul 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 34 0 06 Jul 2025
ViTacFormer: Learning Cross-Modal Representation for Visuo-Tactile Dexterous Manipulation Liang Heng Haoran Geng Kaifeng Zhang Pieter Abbeel Jitendra Malik 136 9 0 19 Jun 2025
ClutterDexGrasp: A Sim-to-Real System for General Dexterous Grasping in Cluttered Scenes Zeyuan Chen Qiyang Yan Yuanpei Chen Tianhao Wu Jiyao Zhang Zihan Ding Jinzhou Li Yaodong Yang Hao Dong 305 5 0 17 Jun 2025
Rodrigues Network for Learning Robot Actions Jialiang Zhang Haoran Geng Yang You Congyue Deng Pieter Abbeel Jitendra Malik Leonidas Guibas AI4CE 221 0 0 03 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 AdjustmentACM Transactions on Graphics (TOG), 2025 Hewen Xiao Xiuping Liu Hang Zhao Jian Liu K. Xu OnRL 382 0 0 25 May 2025
Emergent Active Perception and Dexterity of Simulated Humanoids from Visual Reinforcement Learning Zhengyi Luo Chen Tessler Toru Lin Ye Yuan Tairan He ... Yunrong Guo Gal Chechik Kris Kitani Linxi Fan Yuke Zhu 192 1 0 18 May 2025
Imitation Learning for Adaptive Control of a Virtual Soft ExogloveInternational Conference on Rehabilitation Robotics (ICORR), 2025 Shirui Lyu Vittorio Caggiano Matteo Leonetti Dario Farina Letizia Gionfrida 185 0 0 14 May 2025
Web2Grasp: Learning Functional Grasps from Web Images of Hand-Object Interactions Hongyi Chen Yunchao Yao Yufei Ye Zhixuan Xu Homanga Bharadhwaj Jiashun Wang Shubham Tulsiani Zackory Erickson Jeffrey Ichnowski 244 3 0 07 May 2025
Dexonomy: Synthesizing All Dexterous Grasp Types in a Grasp Taxonomy Jiayi Chen Yubin Ke Lin Peng He Wang 242 11 0 26 Apr 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
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 14 0 17 Apr 2025
HUMOTO: A 4D Dataset of Mocap Human Object Interactions Jiaxin Lu Chun-Hao Paul Huang Uttaran Bhattacharya Qixing Huang Yi Zhou 252 5 0 14 Apr 2025
RobustDexGrasp: Robust Dexterous Grasping of General Objects Hui Zhang Zijian Wu Linyi Huang Sammy Christen Jie Song 307 11 0 07 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
ManipTrans: Efficient Dexterous Bimanual Manipulation Transfer via Residual LearningComputer Vision and Pattern Recognition (CVPR), 2025 Kailin Li Puhao Li Tengyu Liu Yuyang Li Siyuan Huang 255 26 0 27 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 209 4 0 25 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 187 4 0 12 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 341 12 0 10 Mar 2025
SRSA: Skill Retrieval and Adaptation for Robotic Assembly TasksInternational Conference on Learning Representations (ICLR), 2025 Yijie Guo Bingjie Tang Iretiayo Akinola Dieter Fox Abhishek Gupta Yashraj S. Narang 217 11 0 06 Mar 2025
COMBO-Grasp: Learning Constraint-Based Manipulation for Bimanual Occluded Grasping Jun Yamada Alexander L. Mitchell Jack Collins Ingmar Posner OffRL 339 2 0 17 Feb 2025
VinT-6D: A Large-Scale Object-in-hand Dataset from Vision, Touch and ProprioceptionInternational Conference on Machine Learning (ICML), 2024 Zhaoliang Wan Yonggen Ling Senlin Yi Lu Qi Wangwei Lee ... Xiao Teng Peng Lu Xu Yang Ming-Hsuan Yang Hui Cheng 338 9 0 31 Dec 2024
BODex: Scalable and Efficient Robotic Dexterous Grasp Synthesis Using Bilevel OptimizationIEEE International Conference on Robotics and Automation (ICRA), 2024 Jiayi Chen Yubin Ke Hongan Wang 297 12 0 21 Dec 2024
Dexterous Manipulation Based on Prior Dexterous Grasp Pose Knowledge Hengxu Yan Haoshu Fang Cewu Lu 250 1 0 20 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
DexH2R: Task-oriented Dexterous Manipulation from Human to Robots Shuqi Zhao Xinghao Zhu Yuxin Chen Chenran Li Xiang Zhang Mingyu Ding Masayoshi Tomizuka 304 7 0 07 Nov 2024
Neural Attention Field: Emerging Point Relevance in 3D Scenes for One-Shot Dexterous GraspingConference on Robot Learning (CoRL), 2024 Qianxu Wang Congyue Deng Tyler Ga Wei Lum Yuanpei Chen Yaodong Yang Jeannette Bohg Yixin Zhu Leonidas Guibas 201 8 0 30 Oct 2024
DexGraspNet 2.0: Learning Generative Dexterous Grasping in Large-scale Synthetic Cluttered ScenesConference on Robot Learning (CoRL), 2024 Jialiang Zhang Haoran Liu Danshi Li Xinqiang Yu Haoran Geng Yufei Ding Jiayi Chen He Wang 204 45 0 30 Oct 2024
PointPatchRL -- Masked Reconstruction Improves Reinforcement Learning on Point CloudsConference on Robot Learning (CoRL), 2024 B. Gyenes Nikolai Franke P. Becker Gerhard Neumann 3DPC 236 4 0 24 Oct 2024