Cover Image

Grasp to Act: Dexterous Grasping for Tool Use in Dynamic Settings

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Gupta, Harsh, Mirzaee, Mohammad Amin, Yuan, Wenzhen
Format:	Preprint
Published:	2026
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Function-based Parametric Co-Design Optimization of Dexterous Hands
by: Mirzaee, Mohammad Amin, et al.
Published: (2026)

FruitTouch: A Perceptive Gripper for Gentle and Scalable Fruit Harvesting
by: Zhang, Ruohan, et al.
Published: (2026)

GelSphere: An Omnidirectional Rolling Vision-Based Tactile Sensor for Online 3D Reconstruction and Normal Force Estimation
by: Lee, Seoyeon, et al.
Published: (2026)

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

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

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

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

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

GelBelt: A Vision-based Tactile Sensor for Continuous Sensing of Large Surfaces
by: Mirzaee, Mohammad Amin, et al.
Published: (2025)

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

A Modularized Design Approach for GelSight Family of Vision-based Tactile Sensors
by: Agarwal, Arpit, et al.
Published: (2025)

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

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)

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

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

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

Cross-Embodiment Dexterous Grasping with Reinforcement Learning
by: Yuan, Haoqi, et al.
Published: (2024)

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

UniGraspTransformer: Simplified Policy Distillation for Scalable Dexterous Robotic Grasping
by: Wang, Wenbo, et al.
Published: (2024)

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

BiDexGrasp: Coordinated Bimanual Dexterous Grasps across Object Geometries and Sizes
by: Lin, Mu, 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)

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

Physics-Conditioned Grasping for Stable Tool Use
by: Trupin, Noah, et al.
Published: (2025)

TacDexGrasp: Compliant and Robust Dexterous Grasping with Tactile Feedback
by: Ke, Yubin, et al.
Published: (2026)

Grasp2Grasp: Vision-Based Dexterous Grasp Translation via Schrödinger Bridges
by: Zhong, Tao, et al.
Published: (2025)

Dexonomy: Synthesizing All Dexterous Grasp Types in a Grasp Taxonomy
by: Chen, Jiayi, 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)

GelSLAM: A Real-time, High-Fidelity, and Robust 3D Tactile SLAM System
by: Huang, Hung-Jui, et al.
Published: (2025)

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

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

ClutterDexGrasp: A Sim-to-Real System for General Dexterous Grasping in Cluttered Scenes
by: Chen, Zeyuan, et al.
Published: (2025)

Dexterous Manipulation Based on Prior Dexterous Grasp Pose Knowledge
by: Yan, Hengxu, et al.
Published: (2024)

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

Efficient Residual Learning with Mixture-of-Experts for Universal Dexterous Grasping
by: Huang, Ziye, et al.
Published: (2024)

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

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

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