Cover Image

CEDex: Cross-Embodiment Dexterous Grasp Generation at Scale from Human-like Contact Representations

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Wu, Zhiyuan, Potamias, Rolandos Alexandros, Zhang, Xuyang, Zhang, Zhongqun, Deng, Jiankang, Luo, Shan
Format:	Preprint
Published:	2025
Subjects:	Robotics Computer Vision and Pattern Recognition
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

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

HO-Flow: Generalizable Hand-Object Interaction Generation with Latent Flow Matching
by: Chen, Zerui, et al.
Published: (2026)

Dex2HOI: Dexterous Bimanual Two-Object Interaction Generation
by: Pratikaki, Chrysa, et al.
Published: (2026)

HaWoR: World-Space Hand Motion Reconstruction from Egocentric Videos
by: Zhang, Jinglei, et al.
Published: (2025)

WiLoR: End-to-end 3D Hand Localization and Reconstruction in-the-wild
by: Potamias, Rolandos Alexandros, et al.
Published: (2024)

MachaGrasp: Morphology-Aware Cross-Embodiment Dexterous Hand Articulation Generation for Grasping
by: Zhang, Heng, et al.
Published: (2025)

Interact2Ar: Full-Body Human-Human Interaction Generation via Autoregressive Diffusion Models
by: Ruiz-Ponce, Pablo, et al.
Published: (2025)

Cross-Embodiment Dexterous Grasping with Reinforcement Learning
by: Yuan, Haoqi, 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)

CADGrasp: Learning Contact and Collision Aware General Dexterous Grasping in Cluttered Scenes
by: Zhang, Jiyao, et al.
Published: (2026)

Signs as Tokens: A Retrieval-Enhanced Multilingual Sign Language Generator
by: Zuo, Ronglai, et al.
Published: (2024)

SAGS: Structure-Aware 3D Gaussian Splatting
by: Ververas, Evangelos, et al.
Published: (2024)

ImHead: A Large-scale Implicit Morphable Model for Localized Head Modeling
by: Potamias, Rolandos Alexandros, et al.
Published: (2025)

RealDex: Towards Human-like Grasping for Robotic Dexterous Hand
by: Liu, Yumeng, et al.
Published: (2024)

FunGrasp: Functional Grasping for Diverse Dexterous Hands
by: Huang, Linyi, 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)

DexVLG: Dexterous Vision-Language-Grasp Model at Scale
by: He, Jiawei, et al.
Published: (2025)

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

MaDiS: Taming Masked Diffusion Language Models for Sign Language Generation
by: Zuo, Ronglai, et al.
Published: (2026)

VTimeCoT: Thinking by Drawing for Video Temporal Grounding and Reasoning
by: Zhang, Jinglei, et al.
Published: (2025)

AnyDexGrasp: General Dexterous Grasping for Different Hands with Human-level Learning Efficiency
by: Fang, Hao-Shu, et al.
Published: (2025)

Design2Cloth: 3D Cloth Generation from 2D Masks
by: Zheng, Jiali, et al.
Published: (2024)

Scaling Cross-Embodiment World Models for Dexterous Manipulation
by: He, Zihao, et al.
Published: (2025)

Multi-Keypoint Affordance Representation for Functional Dexterous Grasping
by: Yang, Fan, et al.
Published: (2025)

HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps
by: Lim, Jongbin, et al.
Published: (2026)

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

Neural Sign Actors: A diffusion model for 3D sign language production from text
by: Baltatzis, Vasileios, et al.
Published: (2023)

Do You See What I Am Pointing At? Gesture-Based Egocentric Video Question Answering
by: Choi, Yura, et al.
Published: (2026)

DreamCAD: Scaling Multi-modal CAD Generation using Differentiable Parametric Surfaces
by: Khan, Mohammad Sadil, et al.
Published: (2026)

Dexterous Pre-grasp Manipulation for Human-like Functional Categorical Grasping: Deep Reinforcement Learning and Grasp Representations
by: Pavlichenko, Dmytro, et al.
Published: (2023)

UniSkill: Imitating Human Videos via Cross-Embodiment Skill Representations
by: Kim, Hanjung, et al.
Published: (2025)

DexGraspNet 2.0: Learning Generative Dexterous Grasping in Large-scale Synthetic Cluttered Scenes
by: Zhang, Jialiang, et al.
Published: (2024)

ZeroGS: Training 3D Gaussian Splatting from Unposed Images
by: Chen, Yu, et al.
Published: (2024)

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

Generate, Transfer, Adapt: Learning Functional Dexterous Grasping from a Single Human Demonstration
by: He, Xingyi, et al.
Published: (2026)

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

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

GraspGen-X: Cross-Embodiment 6-DOF Diffusion-based Grasping
by: Han, Beining, et al.
Published: (2026)

ConViTac: Aligning Visual-Tactile Fusion with Contrastive Representations
by: Wu, Zhiyuan, et al.
Published: (2025)

Dexonomy: Synthesizing All Dexterous Grasp Types in a Grasp Taxonomy
by: Chen, Jiayi, et al.
Published: (2025)