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cs.RO2026
Arm-Aware Guided Dexterous Grasp Generation with Arm-Agnostic Grasp Models
Yongyi Jia, Yongpeng Jiang, Kangchen Lv +3
Dexterous grasp generation that considers arm-related constraints is crucial in real-world scenarios involving arm environment collision avoidance, workspace boundary grasps, and c…
cs.RO2026
CoorGrasp: Coordinated Contact Control for Adaptive Dexterous Grasping Under Uncertainty
Mingrui Yu, Yongpeng Jiang, Yongyi Jia +2
While recent research has focused heavily on dexterous grasp pose generation, less attention has been devoted to the execution of planned grasps. Under shape and position uncertain…
cs.RO2026
HUGS: Guiding Unified Dexterous Grasp Synthesis Across Modes and Scales via Learned Human Priors
Mingrui Yu, Yongpeng Jiang, Yongyi Jia +4
Dexterous grasping across diverse object scales requires contact modes ranging from two-finger pinches to bimanual grasps. Existing dexterous grasp synthesis methods reduce the hig…