A cross-embodiment force-position interface with system-identified torque calibration enables a flow-matching policy to perform transferable compliant grasping on heterogeneous dexterous hands.
Cedex: Cross-embodiment dexterous grasp generation at scale from human-like contact representations
5 Pith papers cite this work. Polarity classification is still indexing.
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LACE aligns human-robot visual features via semantic distribution matching on corresponding body parts plus Gram loss, yielding 65% better zero-shot policy transfer than baseline DINO.
A unified parameter space and canonical URDF enable cross-embodiment dexterous grasping policies with 81.9% zero-shot success on unseen hands like the 3-finger LEAP Hand.
A JAX-implemented flow-based equivariant model for multi-embodiment grasping that deduces kinematics from geometry to support variable-DoF grippers with a new dataset of 25k scenes and 20M grasps.
A structured survey of dexterous robotic hand research that reviews hardware, control methods, data resources, and benchmarks while identifying major limitations and future directions.
citing papers explorer
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Transferring Contact, Not Just Motion: Compliant Grasping Across Dexterous Hands
A cross-embodiment force-position interface with system-identified torque calibration enables a flow-matching policy to perform transferable compliant grasping on heterogeneous dexterous hands.
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LACE: Latent Visual Representation for Cross-Embodiment Learning
LACE aligns human-robot visual features via semantic distribution matching on corresponding body parts plus Gram loss, yielding 65% better zero-shot policy transfer than baseline DINO.
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One Hand to Rule Them All: Canonical Representations for Unified Dexterous Manipulation
A unified parameter space and canonical URDF enable cross-embodiment dexterous grasping policies with 81.9% zero-shot success on unseen hands like the 3-finger LEAP Hand.
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Towards a Multi-Embodied Grasping Agent
A JAX-implemented flow-based equivariant model for multi-embodiment grasping that deduces kinematics from geometry to support variable-DoF grippers with a new dataset of 25k scenes and 20M grasps.
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Towards Robotic Dexterous Hand Intelligence: A Survey
A structured survey of dexterous robotic hand research that reviews hardware, control methods, data resources, and benchmarks while identifying major limitations and future directions.