dexterous grasping 1graph neural networks 1hand manipulation 1kinematic representation 1multi-embodiment 1
From the 1 of 2 linked papers with an AI index.
2 papers
cs.RO2026
GraspGraphNet: Graph-Structured Multi-Embodiment Dexterous Grasp Generation
Yeonseo Lee, Taeyeop Lee, Hyosup Shin +2
The paper presents GraspGraphNet, a graph‑based framework that encodes robot hand kinematics from URDF files and directly generates executable palm poses and joint angles for dexte…
cs.RO2026
XGrasp: Gripper-Aware Grasp Detection with Multi-Gripper Data Generation
Yeonseo Lee, Jungwook Mun, Hyosup Shin +4
Real-world robotic systems frequently require diverse end-effectors for different tasks, however most existing grasp detection methods are optimized for a single gripper type, dema…