BiDexGrasp supplies a 9.7-million-grasp bimanual dexterous dataset built via two-stage synthesis and a coordinated geometry-size-adaptive model that generates grasps for unseen objects.
Dexgraspnet: A large-scale robotic dexterous grasp dataset for general objects based on simulation
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CoLA-Flow Policy encodes action sequences into a continuous latent space and learns an explicit flow there, yielding near-single-step inference with up to 93.7% smoother trajectories and 25-point higher task success than raw-action flow baselines.
Any-ttach shows that rapid end-effector swapping combined with demonstration collection and task planning enables reliable multi-tool skills in long-horizon tasks such as sandwich making.
GeoHand adapts priors from a general-scene geometry estimator via a GeoAdapter, gated fusion, and keypoint-queried refiner to reach SOTA monocular 3D hand reconstruction on FreiHAND, DexYCB, and HO3Dv3 under heavy occlusion.
SECOND-Grasp integrates semantic contact proposals from vision-language reasoning with geometric refinement to achieve 98%+ lifting success and improved intent-aware grasping on seen and unseen objects.
A unified parametric framework optimizes dexterous hand designs by combining structure, kinematics, and fine surface geometry for grasp stability in simulation and real-world tests.
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.
ViTacFormer learns a cross-modal visuo-tactile latent space with autoregressive tactile prediction and an easy-to-hard curriculum, then uses the representation for imitation learning that yields ~50% higher success and the first reported 11-stage, 2.5-minute autonomous dexterous tasks.
Human2Any transfers human video demonstrations to robots by representing tasks as object-object interactions and composing learned priors with robot-side planning.
A structured survey of dexterous robotic hand research that reviews hardware, control methods, data resources, and benchmarks while identifying major limitations and future directions.
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