{"paper":{"title":"SynManDex: Synthesizing Human-like Dexterous Grasps from Synthetic Human Pre-Grasps","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Mingjie Zhou, Tianxing Chen, Wenwei Lin, Xiaokang Yang, Yanming Shao, Yao Mu, Yichen Chi, Zanxin Chen","submitted_at":"2026-06-08T17:52:45Z","abstract_excerpt":"Human hand-object interactions encode functional intent, but direct transfer to robotic hands often fails under morphology, contact, and reachability constraints. We present SynManDex, a synthetic pipeline that uses generated human pre-grasps as affordance-aware proposals and resolves the final contacts with robot-native optimization. SynManDex samples object-conditioned digital human pre-grasps, retargets them to dexterous robotic hand poses, optimizes force-closure contacts on the target embodiment, and admits trajectories that pass checks from each step. The resulting keyframes support both"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.09798","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2606.09798/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}