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UniDexGrasp: Universal Robotic Dexterous Grasping via Learning Diverse Proposal Generation and Goal-Conditioned Policy
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UniDexGrasp: Universal Robotic Dexterous Grasping via Learning Diverse Proposal Generation and Goal-Conditioned Policy

Yinzhen Xu
Weikang Wan
Jialiang Zhang
Haoran Liu
Zikang Shan
Hao Shen
Ruicheng Wang
Haoran Geng
Yijia Weng
Jiayi Chen
Tengyu Liu
Li Yi
He Wang
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Papers citing "UniDexGrasp: Universal Robotic Dexterous Grasping via Learning Diverse Proposal Generation and Goal-Conditioned Policy"

48 / 48 papers shown
Title
Designing Pin-pression Gripper and Learning its Dexterous Grasping with Online In-hand Adjustment
Designing Pin-pression Gripper and Learning its Dexterous Grasping with Online In-hand Adjustment
Hewen Xiao
Xiuping Liu
Hang Zhao
Jian Liu
K. Xu
OnRL
230
0
0
25 May 2025
Crossing the Human-Robot Embodiment Gap with Sim-to-Real RL using One Human Demonstration
Crossing the Human-Robot Embodiment Gap with Sim-to-Real RL using One Human Demonstration
Tyler Ga Wei Lum
Olivia Y. Lee
C. Karen Liu
Jeannette Bohg
86
1
0
17 Apr 2025
DexTOG: Learning Task-Oriented Dexterous Grasp with Language
DexTOG: Learning Task-Oriented Dexterous Grasp with Language
Jieyi Zhang
Wenqiang Xu
Zhenjun Yu
Pengfei Xie
Tutian Tang
Cewu Lu
339
1
0
06 Apr 2025
Grasping a Handful: Sequential Multi-Object Dexterous Grasp Generation
Grasping a Handful: Sequential Multi-Object Dexterous Grasp Generation
Haofei Lu
Yifei Dong
Zehang Weng
Jens Lundell
Danica Kragic
86
0
0
28 Mar 2025
EvolvingGrasp: Evolutionary Grasp Generation via Efficient Preference Alignment
EvolvingGrasp: Evolutionary Grasp Generation via Efficient Preference Alignment
Yufei Zhu
Yiming Zhong
Zemin Yang
Peishan Cong
Jingyi Yu
X. Zhu
Y. Ma
88
1
0
18 Mar 2025
DexGrasp Anything: Towards Universal Robotic Dexterous Grasping with Physics Awareness
DexGrasp Anything: Towards Universal Robotic Dexterous Grasping with Physics Awareness
Yiming Zhong
Qi Jiang
Jingyi Yu
Yuexin Ma
156
4
0
11 Mar 2025
Generative Artificial Intelligence in Robotic Manipulation: A Survey
Kun Zhang
Peng Yun
Jun Cen
Junhao Cai
DiDi Zhu
...
Qifeng Chen
Jia Pan
Wei Zhang
Bo Yang
Hua Chen
168
1
0
05 Mar 2025
Dexterous Cable Manipulation: Taxonomy, Multi-Fingered Hand Design, and Long-Horizon Manipulation
Dexterous Cable Manipulation: Taxonomy, Multi-Fingered Hand Design, and Long-Horizon Manipulation
Sun Zhaole
Xiao Gao
Xiaofeng Mao
Jihong Zhu
A. Billard
Robert B. Fisher
117
0
0
01 Feb 2025
SynH2R: Synthesizing Hand-Object Motions for Learning Human-to-Robot Handovers
SynH2R: Synthesizing Hand-Object Motions for Learning Human-to-Robot Handovers
Sammy Christen
Lan Feng
Wei Yang
Yu-Wei Chao
Otmar Hilliges
Mingli Song
108
14
0
03 Jan 2025
Local Policies Enable Zero-shot Long-horizon Manipulation
Local Policies Enable Zero-shot Long-horizon Manipulation
Murtaza Dalal
Min Liu
Walter Talbott
Chen Chen
Deepak Pathak
Jian Zhang
Ruslan Salakhutdinov
122
4
0
29 Oct 2024
Graspness Discovery in Clutters for Fast and Accurate Grasp Detection
Graspness Discovery in Clutters for Fast and Accurate Grasp Detection
Chenxi Wang
Hao-Shu Fang
Minghao Gou
Hongjie Fang
Jin Gao
Cewu Lu
111
115
0
17 Jun 2024
GraspGF: Learning Score-based Grasping Primitive for Human-assisting Dexterous Grasping
GraspGF: Learning Score-based Grasping Primitive for Human-assisting Dexterous Grasping
Tianhao Wu
Mingdong Wu
Jiyao Zhang
Yunchong Gan
Hao Dong
110
25
0
12 Sep 2023
DexGraspNet: A Large-Scale Robotic Dexterous Grasp Dataset for General Objects Based on Simulation
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 Wang
116
122
0
06 Oct 2022
Learning Generalizable Dexterous Manipulation from Human Grasp Affordance
Learning Generalizable Dexterous Manipulation from Human Grasp Affordance
Yueh-hua Wu
Jiashun Wang
Xiaolong Wang
76
61
0
05 Apr 2022
Learning High-DOF Reaching-and-Grasping via Dynamic Representation of Gripper-Object Interaction
Learning High-DOF Reaching-and-Grasping via Dynamic Representation of Gripper-Object Interaction
Qijin She
Ruizhen Hu
Juzhan Xu
Min Liu
Kai Xu
Hui Huang
48
83
0
03 Apr 2022
Learning Category-Level Generalizable Object Manipulation Policy via Generative Adversarial Self-Imitation Learning from Demonstrations
Learning Category-Level Generalizable Object Manipulation Policy via Generative Adversarial Self-Imitation Learning from Demonstrations
Hao Shen
Weikang Wan
He Wang
SSL
48
25
0
04 Mar 2022
HOI4D: A 4D Egocentric Dataset for Category-Level Human-Object Interaction
HOI4D: A 4D Egocentric Dataset for Category-Level Human-Object Interaction
Yunze Liu
Yun-Hai Liu
Chen Jiang
Kangbo Lyu
Weikang Wan
Hao Shen
Bo-Hua Liang
Zhoujie Fu
He Wang
Li Yi
110
188
0
03 Mar 2022
Conditional Image Generation with Score-Based Diffusion Models
Conditional Image Generation with Score-Based Diffusion Models
Georgios Batzolis
Jan Stanczuk
Carola-Bibiane Schönlieb
Christian Etmann
DiffM
53
192
0
26 Nov 2021
Generalization in Dexterous Manipulation via Geometry-Aware Multi-Task Learning
Generalization in Dexterous Manipulation via Geometry-Aware Multi-Task Learning
Wenlong Huang
Igor Mordatch
Pieter Abbeel
Deepak Pathak
105
64
0
04 Nov 2021
A System for General In-Hand Object Re-Orientation
A System for General In-Hand Object Re-Orientation
Tao Chen
Jie Xu
Pulkit Agrawal
109
257
0
04 Nov 2021
Probabilistic Modeling for Human Mesh Recovery
Probabilistic Modeling for Human Mesh Recovery
Nikos Kolotouros
Georgios Pavlakos
Dinesh Jayaraman
Kostas Daniilidis
3DH
59
168
0
26 Aug 2021
Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning
Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning
Viktor Makoviychuk
Lukasz Wawrzyniak
Yunrong Guo
Michelle Lu
Kier Storey
...
David Hoeller
Nikita Rudin
Arthur Allshire
Ankur Handa
Gavriel State
178
1,086
0
24 Aug 2021
DexMV: Imitation Learning for Dexterous Manipulation from Human Videos
DexMV: Imitation Learning for Dexterous Manipulation from Human Videos
Yuzhe Qin
Yueh-hua Wu
Shaowei Liu
Hanwen Jiang
Ruihan Yang
Yang Fu
Xiaolong Wang
177
200
0
12 Aug 2021
ManiSkill: Generalizable Manipulation Skill Benchmark with Large-Scale Demonstrations
ManiSkill: Generalizable Manipulation Skill Benchmark with Large-Scale Demonstrations
Tongzhou Mu
Z. Ling
Fanbo Xiang
Derek Yang
Xuanlin Li
Stone Tao
Zhiao Huang
Zhiwei Jia
Hao Su
97
138
0
30 Jul 2021
Implicit-PDF: Non-Parametric Representation of Probability Distributions on the Rotation Manifold
Implicit-PDF: Non-Parametric Representation of Probability Distributions on the Rotation Manifold
Kieran A. Murphy
Carlos Esteves
Varun Jampani
Srikumar Ramalingam
A. Makadia
64
78
0
10 Jun 2021
Synthesizing Diverse and Physically Stable Grasps with Arbitrary Hand Structures using Differentiable Force Closure Estimator
Synthesizing Diverse and Physically Stable Grasps with Arbitrary Hand Structures using Differentiable Force Closure Estimator
Tengyu Liu
Zeyu Liu
Ziyuan Jiao
Yixin Zhu
Song-Chun Zhu
87
104
0
19 Apr 2021
ContactOpt: Optimizing Contact to Improve Grasps
ContactOpt: Optimizing Contact to Improve Grasps
Patrick Grady
Chengcheng Tang
Christopher D. Twigg
Minh Vo
Samarth Brahmbhatt
Charles C. Kemp
3DH
46
137
0
15 Apr 2021
Hand-Object Contact Consistency Reasoning for Human Grasps Generation
Hand-Object Contact Consistency Reasoning for Human Grasps Generation
Hanwen Jiang
Shaowei Liu
Jiashun Wang
Xiaolong Wang
72
180
0
07 Apr 2021
RGB Matters: Learning 7-DoF Grasp Poses on Monocular RGBD Images
RGB Matters: Learning 7-DoF Grasp Poses on Monocular RGBD Images
Minghao Gou
Haoshu Fang
Zhanda Zhu
Shengwei Xu
Chenxi Wang
Cewu Lu
59
100
0
03 Mar 2021
Volumetric Grasping Network: Real-time 6 DOF Grasp Detection in Clutter
Volumetric Grasping Network: Real-time 6 DOF Grasp Detection in Clutter
Michel Breyer
Jen Jen Chung
Lionel Ott
Roland Siegwart
Juan I. Nieto
3DPC
72
172
0
04 Jan 2021
Learning Dexterous Grasping with Object-Centric Visual Affordances
Learning Dexterous Grasping with Object-Centric Visual Affordances
Priyanka Mandikal
Kristen Grauman
88
141
0
03 Sep 2020
Deep Differentiable Grasp Planner for High-DOF Grippers
Deep Differentiable Grasp Planner for High-DOF Grippers
Min Liu
Zherong Pan
Kai Xu
Kanishka Ganguly
Tianyi Zhou
87
75
0
04 Feb 2020
Learning by Cheating
Learning by Cheating
Dian Chen
Brady Zhou
V. Koltun
Philipp Krahenbuhl
SSL
110
515
0
27 Dec 2019
Normalizing Flows for Probabilistic Modeling and Inference
Normalizing Flows for Probabilistic Modeling and Inference
George Papamakarios
Eric T. Nalisnick
Danilo Jimenez Rezende
S. Mohamed
Balaji Lakshminarayanan
TPMAI4CE
207
1,711
0
05 Dec 2019
Kaolin: A PyTorch Library for Accelerating 3D Deep Learning Research
Kaolin: A PyTorch Library for Accelerating 3D Deep Learning Research
Krishna Murthy Jatavallabhula
Edward James Smith
Jean-Francois Lafleche
Clement Fuji-Tsang
Artem Rozantsev
Wenzheng Chen
Tommy Xiang
Rev Lebaredian
Sanja Fidler
3DPCAI4CE
79
127
0
12 Nov 2019
Solving Rubik's Cube with a Robot Hand
Solving Rubik's Cube with a Robot Hand
OpenAI
Ilge Akkaya
Marcin Andrychowicz
Maciek Chociej
Ma-teusz Litwin
...
Peter Welinder
Lilian Weng
Qiming Yuan
Wojciech Zaremba
Lei Zhang
ODL
116
1,232
0
16 Oct 2019
Deep Dynamics Models for Learning Dexterous Manipulation
Deep Dynamics Models for Learning Dexterous Manipulation
Anusha Nagabandi
K. Konolige
Sergey Levine
Vikash Kumar
220
415
0
25 Sep 2019
ContactGrasp: Functional Multi-finger Grasp Synthesis from Contact
ContactGrasp: Functional Multi-finger Grasp Synthesis from Contact
Samarth Brahmbhatt
Ankur Handa
James Hays
Dieter Fox
61
135
0
07 Apr 2019
On the Continuity of Rotation Representations in Neural Networks
On the Continuity of Rotation Representations in Neural Networks
Yi Zhou
Connelly Barnes
Jingwan Lu
Jimei Yang
Hao Li
3DH
77
1,294
0
17 Dec 2018
Learning Dexterous In-Hand Manipulation
Learning Dexterous In-Hand Manipulation
OpenAI OpenAI
Marcin Andrychowicz
Bowen Baker
Maciek Chociej
Rafal Jozefowicz
...
Szymon Sidor
Joshua Tobin
Peter Welinder
Lilian Weng
Wojciech Zaremba
153
1,884
0
01 Aug 2018
Glow: Generative Flow with Invertible 1x1 Convolutions
Glow: Generative Flow with Invertible 1x1 Convolutions
Diederik P. Kingma
Prafulla Dhariwal
BDLDRL
297
3,138
0
09 Jul 2018
Soft Actor-Critic: Off-Policy Maximum Entropy Deep Reinforcement Learning with a Stochastic Actor
Soft Actor-Critic: Off-Policy Maximum Entropy Deep Reinforcement Learning with a Stochastic Actor
Tuomas Haarnoja
Aurick Zhou
Pieter Abbeel
Sergey Levine
314
8,396
0
04 Jan 2018
Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrations
Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrations
Aravind Rajeswaran
Vikash Kumar
Abhishek Gupta
Giulia Vezzani
John Schulman
E. Todorov
Sergey Levine
139
1,100
0
28 Sep 2017
Proximal Policy Optimization Algorithms
Proximal Policy Optimization Algorithms
John Schulman
Filip Wolski
Prafulla Dhariwal
Alec Radford
Oleg Klimov
OffRL
520
19,237
0
20 Jul 2017
PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation
PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation
C. Qi
Hao Su
Kaichun Mo
Leonidas Guibas
3DH3DPC3DVPINN
493
14,353
0
02 Dec 2016
Faster Eigenvector Computation via Shift-and-Invert Preconditioning
Faster Eigenvector Computation via Shift-and-Invert Preconditioning
Dan Garber
Laurent Dinh
Chi Jin
Jascha Narain Sohl-Dickstein
Samy Bengio
Praneeth Netrapalli
Aaron Sidford
275
78
0
26 May 2016
Fast and Accurate Deep Network Learning by Exponential Linear Units (ELUs)
Fast and Accurate Deep Network Learning by Exponential Linear Units (ELUs)
Djork-Arné Clevert
Thomas Unterthiner
Sepp Hochreiter
300
5,532
0
23 Nov 2015
A Reduction of Imitation Learning and Structured Prediction to No-Regret Online Learning
A Reduction of Imitation Learning and Structured Prediction to No-Regret Online Learning
Stéphane Ross
Geoffrey J. Gordon
J. Andrew Bagnell
OffRL
231
3,232
0
02 Nov 2010

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