SynManDex generates human-like dexterous grasps for robots from synthetic human pre-grasps via retargeting and force-closure optimization, reporting 86.4% stability, 4.67/5 human-likeness, 80.7% sim success, and 83.3% real-robot success.
DiffH2O: Diffusion-based synthesis of hand-object interactions from textual descriptions
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SynManDex: Synthesizing Human-like Dexterous Grasps from Synthetic Human Pre-Grasps
SynManDex generates human-like dexterous grasps for robots from synthetic human pre-grasps via retargeting and force-closure optimization, reporting 86.4% stability, 4.67/5 human-likeness, 80.7% sim success, and 83.3% real-robot success.