Cover Image

UniGraspTransformer: Simplified Policy Distillation for Scalable Dexterous Robotic Grasping

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Wang, Wenbo, Wei, Fangyun, Zhou, Lei, Chen, Xi, Luo, Lin, Yi, Xiaohan, Zhang, Yizhong, Liang, Yaobo, Xu, Chang, Lu, Yan, Yang, Jiaolong, Guo, Baining
Format:	Preprint
Published:	2024
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

MobileManiBench: Simplifying Model Verification for Mobile Manipulation
by: Wang, Wenbo, et al.
Published: (2026)

Dexterous Grasp Transformer
by: Xu, Guo-Hao, et al.
Published: (2024)

VideoVLA: Video Generators Can Be Generalizable Robot Manipulators
by: Shen, Yichao, et al.
Published: (2025)

UniMorphGrasp: Diffusion Model with Morphology-Awareness for Cross-Embodiment Dexterous Grasp Generation
by: Wu, Zhiyuan, et al.
Published: (2026)

UltraDexGrasp: Learning Universal Dexterous Grasping for Bimanual Robots with Synthetic Data
by: Yang, Sizhe, et al.
Published: (2026)

OmniDexGrasp: Generalizable Dexterous Grasping via Foundation Model and Force Feedback
by: Wei, Yi-Lin, et al.
Published: (2025)

GES-UniGrasp: A Two-Stage Dexterous Grasping Strategy With Geometry-Based Expert Selection
by: Xu, Fangting, et al.
Published: (2025)

DexGrasp-Diffusion: Diffusion-based Unified Functional Grasp Synthesis Method for Multi-Dexterous Robotic Hands
by: Zhang, Zhengshen, et al.
Published: (2024)

Grasp as You Say: Language-guided Dexterous Grasp Generation
by: Wei, Yi-Lin, et al.
Published: (2024)

T(R,O) Grasp: Efficient Graph Diffusion of Robot-Object Spatial Transformation for Cross-Embodiment Dexterous Grasping
by: Fei, Xin, et al.
Published: (2025)

BODex: Scalable and Efficient Robotic Dexterous Grasp Synthesis Using Bilevel Optimization
by: Chen, Jiayi, et al.
Published: (2024)

$\mathcal{D(R,O)}$ Grasp: A Unified Representation of Robot and Object Interaction for Cross-Embodiment Dexterous Grasping
by: Wei, Zhenyu, et al.
Published: (2024)

SECOND-Grasp: Semantic Contact-guided Dexterous Grasping
by: Shin, Han Yi, et al.
Published: (2026)

Dexterous Functional Pre-Grasp Manipulation with Diffusion Policy
by: Wu, Tianhao, et al.
Published: (2024)

Dexterous Grasping with Real-World Robotic Reinforcement Learning
by: Huang, Dongchi, et al.
Published: (2025)

DexSinGrasp: Learning a Unified Policy for Dexterous Object Singulation and Grasping in Densely Cluttered Environments
by: Xu, Lixin, et al.
Published: (2025)

RobustDexGrasp: Robust Dexterous Grasping of General Objects
by: Zhang, Hui, et al.
Published: (2025)

Grasp to Act: Dexterous Grasping for Tool Use in Dynamic Settings
by: Gupta, Harsh, et al.
Published: (2026)

Leveraging Extrinsic Dexterity for Occluded Grasping on Grasp Constraining Walls
by: Kobashi, Keita, et al.
Published: (2025)

DexGrasp-Zero: A Morphology-Aligned Policy for Zero-Shot Cross-Embodiment Dexterous Grasping
by: Wu, Yuliang, et al.
Published: (2026)

MultiGripperGrasp: A Dataset for Robotic Grasping from Parallel Jaw Grippers to Dexterous Hands
by: Casas, Luis Felipe, et al.
Published: (2024)

ScaleADFG: Affordance-based Dexterous Functional Grasping via Scalable Dataset
by: Wang, Sizhe, et al.
Published: (2025)

D3Grasp: Diverse and Deformable Dexterous Grasping for General Objects
by: Wang, Keyu, et al.
Published: (2025)

GrainGrasp: Dexterous Grasp Generation with Fine-grained Contact Guidance
by: Zhao, Fuqiang, et al.
Published: (2024)

DemoGrasp: Universal Dexterous Grasping from a Single Demonstration
by: Yuan, Haoqi, et al.
Published: (2025)

GraspADMM: Improving Dexterous Grasp Synthesis via ADMM Optimization
by: Ruan, Liangwang, et al.
Published: (2026)

SpringGrasp: Synthesizing Compliant, Dexterous Grasps under Shape Uncertainty
by: Chen, Sirui, et al.
Published: (2024)

Grasp What You Want: Embodied Dexterous Grasping System Driven by Your Voice
by: Li, Junliang, et al.
Published: (2024)

End-to-end RL Improves Dexterous Grasping Policies
by: Singh, Ritvik, et al.
Published: (2025)

GraspGF: Learning Score-based Grasping Primitive for Human-assisting Dexterous Grasping
by: Wu, Tianhao, et al.
Published: (2023)

Towards Affordance-Aware Robotic Dexterous Grasping with Human-like Priors
by: Zhao, Haoyu, et al.
Published: (2025)

Learning Stable Robot Grasping with Transformer-based Tactile Control Policies
by: Puang, En Yen, et al.
Published: (2024)

DexGrasp Anything: Towards Universal Robotic Dexterous Grasping with Physics Awareness
by: Zhong, Yiming, et al.
Published: (2025)

BiDexGrasp: Coordinated Bimanual Dexterous Grasps across Object Geometries and Sizes
by: Lin, Mu, et al.
Published: (2026)

FunGrasp: Functional Grasping for Diverse Dexterous Hands
by: Huang, Linyi, et al.
Published: (2024)

Bimanual Grasp Synthesis for Dexterous Robot Hands
by: Shao, Yanming, et al.
Published: (2024)

AffordDexGrasp: Open-set Language-guided Dexterous Grasp with Generalizable-Instructive Affordance
by: Wei, Yi-Lin, et al.
Published: (2025)

GraspQP: Differentiable Optimization of Force Closure for Diverse and Robust Dexterous Grasping
by: Zurbrügg, René, et al.
Published: (2025)

SpaceDex: Generalizable Dexterous Grasping in Tiered Workspaces
by: Wang, Wensheng, et al.
Published: (2026)

Grasping a Handful: Sequential Multi-Object Dexterous Grasp Generation
by: Lu, Haofei, et al.
Published: (2025)