Lightning Grasp: High Performance Procedural Grasp Synthesis with Contact Fields
Fuente:
arXiv
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| Autori principali: | , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| _version_ | 1866915610275872768 |
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| author | Yin, Zhao-Heng Abbeel, Pieter |
| author_facet | Yin, Zhao-Heng Abbeel, Pieter |
| contents | Despite years of research, real-time diverse grasp synthesis for dexterous hands remains an unsolved core challenge in robotics and computer graphics. We present Lightning Grasp, a novel high-performance procedural grasp synthesis algorithm that achieves orders-of-magnitude speedups over state-of-the-art approaches, while enabling unsupervised grasp generation for irregular, tool-like objects. The method avoids many limitations of prior approaches, such as the need for carefully tuned energy functions and sensitive initialization. This breakthrough is driven by a key insight: decoupling complex geometric computation from the search process via a simple, efficient data structure - the Contact Field. This abstraction collapses the problem complexity, enabling a procedural search at unprecedented speeds. We open-source our system to propel further innovation in robotic manipulation. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_07418 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Lightning Grasp: High Performance Procedural Grasp Synthesis with Contact Fields Yin, Zhao-Heng Abbeel, Pieter Robotics Artificial Intelligence Computer Vision and Pattern Recognition Distributed, Parallel, and Cluster Computing Graphics Despite years of research, real-time diverse grasp synthesis for dexterous hands remains an unsolved core challenge in robotics and computer graphics. We present Lightning Grasp, a novel high-performance procedural grasp synthesis algorithm that achieves orders-of-magnitude speedups over state-of-the-art approaches, while enabling unsupervised grasp generation for irregular, tool-like objects. The method avoids many limitations of prior approaches, such as the need for carefully tuned energy functions and sensitive initialization. This breakthrough is driven by a key insight: decoupling complex geometric computation from the search process via a simple, efficient data structure - the Contact Field. This abstraction collapses the problem complexity, enabling a procedural search at unprecedented speeds. We open-source our system to propel further innovation in robotic manipulation. |
| title | Lightning Grasp: High Performance Procedural Grasp Synthesis with Contact Fields |
| topic | Robotics Artificial Intelligence Computer Vision and Pattern Recognition Distributed, Parallel, and Cluster Computing Graphics |
| url | https://arxiv.org/abs/2511.07418 |