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cs.RO2026
KPGrasp: Scalable Keypoint Flow Matching for Dexterous Grasp Generation
Yuansen Huang, Jiayi Chen, Haoran Liu +6
Generating high-quality dexterous grasps remains challenging for learning-based methods, which often depend on carefully tuned contact losses or costly contact-based test-time refi…
cs.RO2026
TacDexGrasp: Compliant and Robust Dexterous Grasping with Tactile Feedback
Yubin Ke, Jiayi Chen, Hang Lv +2
Multi-fingered hands offer great potential for compliant and robust grasping of unknown objects, yet their high-dimensional force control presents a significant challenge. This wor…