Grasp'D: Differentiable Contact-rich Grasp Synthesis for Multi-fingered Hands

25 August 2022

Papers citing "Grasp'D: Differentiable Contact-rich Grasp Synthesis for Multi-fingered Hands"

50 / 51 papers shown

Title
DexFlow: A Unified Approach for Dexterous Hand Pose Retargeting and Interaction Xiaoyi Lin Kunpeng Yao Lixin Xu Xinyu Wang Xuetao Li Y. Wang Miao Li 32 0 0 02 May 2025
Dexonomy: Synthesizing All Dexterous Grasp Types in a Grasp Taxonomy Jiayi Chen Yubin Ke Lin Peng He-Nan Wang 26 0 0 26 Apr 2025
G-DexGrasp: Generalizable Dexterous Grasping Synthesis Via Part-Aware Prior Retrieval and Prior-Assisted Generation Juntao Jian Xiuping Liu Z. Chen Manyi Li Jian Liu Ruizhen Hu 41 0 0 25 Mar 2025
Prof. Robot: Differentiable Robot Rendering Without Static and Self-Collisions Quanyuan Ruan Jiabao Lei Wenhao Yuan Y. Zhang Dekun Lu Guiliang Liu Kui Jia 70 0 0 14 Mar 2025
Sequential Multi-Object Grasping with One Dexterous Hand Sicheng He Zeyu Shangguan Kuanning Wang Yongchong Gu Yuqian Fu Yanwei Fu Daniel Seita 58 1 0 13 Mar 2025
Efficient Gradient-Based Inference for Manipulation Planning in Contact Factor Graphs Jeongmin Lee Sunkyung Park Minji Lee Dongjun Lee 43 0 0 08 Mar 2025
SynH2R: Synthesizing Hand-Object Motions for Learning Human-to-Robot Handovers Sammy Christen Lan Feng Wei Yang Yu-Wei Chao Otmar Hilliges Jie Song 48 15 0 03 Jan 2025
BODex: Scalable and Efficient Robotic Dexterous Grasp Synthesis Using Bilevel Optimization Jiayi Chen Yubin Ke H. Wang 89 5 0 21 Dec 2024
Towards a Training Free Approach for 3D Scene Editing Vivek Madhavaram Shivangana Rawat Chaitanya Devaguptapu Charu Sharma Manohar Kaul DiffM 77 0 0 17 Dec 2024
Stabilizing Reinforcement Learning in Differentiable Multiphysics Simulation Eliot Xing Vernon Luk Jean Oh 84 0 0 16 Dec 2024
RegionGrasp: A Novel Task for Contact Region Controllable Hand Grasp Generation Yilin Wang Chuan Guo Li Cheng Hai Jiang 33 1 0 10 Oct 2024
On the Feasibility of A Mixed-Method Approach for Solving Long Horizon Task-Oriented Dexterous Manipulation Shaunak A. Mehta Rana Soltani Zarrin 31 0 0 09 Oct 2024
DiPGrasp: Parallel Local Searching for Efficient Differentiable Grasp Planning Wenqiang Xu Jieyi Zhang Tutian Tang Zhenjun Yu Yutong Li Cewu Lu 35 3 0 08 Aug 2024
A Surprisingly Efficient Representation for Multi-Finger Grasping Hengxu Yan Hao-Shu Fang Cewu Lu 36 0 0 05 Aug 2024
DexGrasp-Diffusion: Diffusion-based Unified Functional Grasp Synthesis Pipeline for Multi-Dexterous Robotic Hands Zhengsheng Zhang Lei Zhou Chenchen Liu Zhiyang Liu Chengran Yuan Sheng Guo Ruiteng Zhao Marcelo H. Ang Francis EH Tay 43 8 0 13 Jul 2024
A Review of Differentiable Simulators Rhys Newbury Jack Collins Kerry He Jiahe Pan Ingmar Posner David Howard Akansel Cosgun AI4CE 46 9 0 08 Jul 2024
GenHeld: Generating and Editing Handheld Objects Chaerin Min Srinath Sridhar 38 0 0 07 Jun 2024
Grasp as You Say: Language-guided Dexterous Grasp Generation Yi-Lin Wei Jian-Jian Jiang Chengyi Xing Xiantuo Tan Xiao-Ming Wu Hao Li M. Cutkosky Wei-Shi Zheng 54 14 0 29 May 2024
Systematically Exploring the Landscape of Grasp Affordances via Behavioral Manifolds Michael Zechmair Yannick Morel 36 0 0 07 May 2024
Dexterous Grasp Transformer Guo-Hao Xu Yi-Lin Wei Dian Zheng Xiao-Ming Wu Wei-Shi Zheng ViT 34 11 0 28 Apr 2024
SemGrasp: Semantic Grasp Generation via Language Aligned Discretization Kailin Li Jingbo Wang Lixin Yang Cewu Lu Bo Dai 43 16 0 04 Apr 2024
Learning Quadrupedal Locomotion via Differentiable Simulation Clemens Schwarke Victor Klemm J. Tordesillas Jean-Pierre Sleiman Marco Hutter 42 5 0 03 Apr 2024
InterHandGen: Two-Hand Interaction Generation via Cascaded Reverse Diffusion Jihyun Lee Shunsuke Saito Giljoo Nam Minhyuk Sung Tae-Kyun Kim 45 11 0 26 Mar 2024
MultiGripperGrasp: A Dataset for Robotic Grasping from Parallel Jaw Grippers to Dexterous Hands Luis Felipe Casas Murillo Ninad Khargonkar Balakrishnan Prabhakaran Yu Xiang 38 13 0 14 Mar 2024
Speeding up 6-DoF Grasp Sampling with Quality-Diversity J. Huber Franccois Hélénon Mathilde Kappel Elie Chelly Mahdi Khoramshahi F. B. Amar Stéphane Doncieux 36 3 0 10 Mar 2024
Kinematic Motion Retargeting for Contact-Rich Anthropomorphic Manipulations A. Lakshmipathy Jessica Hodgins N. S. Pollard 32 5 0 07 Feb 2024
Hand-Centric Motion Refinement for 3D Hand-Object Interaction via Hierarchical Spatial-Temporal Modeling Yuze Hao Jianrong Zhang Tao Zhuo Fuan Wen Hehe Fan 3DH 44 4 0 29 Jan 2024
ParaHome: Parameterizing Everyday Home Activities Towards 3D Generative Modeling of Human-Object Interactions Jeonghwan Kim Jisoo Kim Jeonghyeon Na Hanbyul Joo 50 20 0 18 Jan 2024
Geometry Matching for Multi-Embodiment Grasping Maria Attarian Muhammad Adil Asif Jingzhou Liu Ruthrash Hari Animesh Garg Igor Gilitschenski Jonathan Tompson 33 13 0 06 Dec 2023
Dexterous Functional Grasping Ananye Agarwal Shagun Uppal Kenneth Shaw Deepak Pathak 33 34 0 05 Dec 2023
MANUS: Markerless Grasp Capture using Articulated 3D Gaussians Chandradeep Pokhariya Ishaan Shah Angela Xing Zekun Li Kefan Chen Avinash Sharma Srinath Sridhar 3DGS 30 12 0 04 Dec 2023
UGG: Unified Generative Grasping Jiaxin Lu Hao Kang Haoxiang Li Bo Liu Yiding Yang Qixing Huang Gang Hua 54 21 0 28 Nov 2023
HandyPriors: Physically Consistent Perception of Hand-Object Interactions with Differentiable Priors Shutong Zhang Yi-Ling Qiao Guanglei Zhu Eric Heiden Dylan Turpin Jingzhou Liu Ming-Chyuan Lin Miles Macklin Animesh Garg 27 2 0 28 Nov 2023
Grasp Multiple Objects with One Hand Yuyang Li Bo Liu Yiran Geng Puhao Li Yaodong Yang Yixin Zhu Tengyu Liu Siyuan Huang 35 24 0 24 Oct 2023
DeepSimHO: Stable Pose Estimation for Hand-Object Interaction via Physics Simulation Rong Wang Wei Mao Hongdong Li 3DH 33 6 0 11 Oct 2023
Diff-Transfer: Model-based Robotic Manipulation Skill Transfer via Differentiable Physics Simulation Yuqi Xiang Feitong Chen Qinsi Wang Yang Gang Xiang Zhang Xinghao Zhu Xingyu Liu Lin Shao 32 1 0 07 Oct 2023
ContactGen: Generative Contact Modeling for Grasp Generation Shaowei Liu Yang Zhou Jimei Yang Saurabh Gupta Shenlong Wang 29 31 0 05 Oct 2023
Task-Oriented Dexterous Hand Pose Synthesis Using Differentiable Grasp Wrench Boundary Estimator Jiayi Chen Yuxing Chen Jialiang Zhang He-Nan Wang 47 1 0 24 Sep 2023
AffordPose: A Large-scale Dataset of Hand-Object Interactions with Affordance-driven Hand Pose Ju Jian Xiuping Liu Manyi Li Ruizhen Hu Jian Liu 21 39 0 16 Sep 2023
Fast-Grasp'D: Dexterous Multi-finger Grasp Generation Through Differentiable Simulation Dylan Turpin Tao P. Zhong Shutong Zhang Guanglei Zhu Jingzhou Liu ... Eric Heiden Miles Macklin Stavros Tsogkas Sven J. Dickinson Animesh Garg 22 34 0 13 Jun 2023
Uncertain Pose Estimation during Contact Tasks using Differentiable Contact Features Jeongmin Lee Minji Lee Dongjun Lee 22 9 0 26 May 2023
Learning Hand-Held Object Reconstruction from In-The-Wild Videos Aditya Prakash Matthew Chang Matthew Jin Saurabh Gupta 3DH 13 3 0 04 May 2023
Contact Edit: Artist Tools for Intuitive Modeling of Hand-Object Interactions A. Lakshmipathy Nicole Feng Yu Xi Lee Moshe Mahler N. S. Pollard 32 11 0 03 May 2023
Improving Gradient Computation for Differentiable Physics Simulation with Contacts Yaofeng Desmond Zhong Jiequn Han Biswadip Dey Georgia Olympia Brikis 38 3 0 28 Apr 2023
Task-Oriented Human-Object Interactions Generation with Implicit Neural Representations Quanzhou Li Jingbo Wang Chen Change Loy Bo Dai 34 26 0 23 Mar 2023
DexRepNet: Learning Dexterous Robotic Grasping Network with Geometric and Spatial Hand-Object Representations Qingtao Liu Yu Cui Qi Ye Zheng Sun Haoming Li Gaofeng Li Lin Shao Jiming Chen 11 19 0 17 Mar 2023
FRoGGeR: Fast Robust Grasp Generation via the Min-Weight Metric Albert H. Li Preston Culbertson J. W. Burdick Aaron D. Ames OffRL 33 14 0 27 Feb 2023
FLEX: Full-Body Grasping Without Full-Body Grasps Purva Tendulkar Dídac Surís Carl Vondrick 44 41 0 21 Nov 2022
DexGraspNet: A Large-Scale Robotic Dexterous Grasp Dataset for General Objects Based on Simulation Ruicheng Wang Jialiang Zhang Jiayi Chen Yinzhen Xu Puhao Li Tengyu Liu He-Nan Wang 28 118 0 06 Oct 2022
GenDexGrasp: Generalizable Dexterous Grasping Puhao Li Tengyu Liu Yuyang Li Yiran Geng Yixin Zhu Yaodong Yang Siyuan Huang 70 63 0 03 Oct 2022