KPGrasp is a scalable Transformer flow-matching model using 3D hand keypoints that achieves 76.3% success on Dexonomy (47.4% improvement) and best average on DexGrasp Anything without contact losses or test-time refinement.
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KPGrasp: Scalable Keypoint Flow Matching for Dexterous Grasp Generation
KPGrasp is a scalable Transformer flow-matching model using 3D hand keypoints that achieves 76.3% success on Dexonomy (47.4% improvement) and best average on DexGrasp Anything without contact losses or test-time refinement.