mlsanityData to 7 Oct 2026

Synthesizing Diverse and Physically Stable Grasps with Arbitrary Hand Structures using Differentiable Force Closure Estimator

arXiv 2104.09194 ↗First posted 19 Apr 2021cs.ROcited by 70

Not on the map. Why?

Abstract (arXiv)

Existing grasp synthesis methods are either analytical or data-driven. The former one is oftentimes limited to specific application scope. The latter one depends heavily on demonstrations, thus suffers from generalization issues; e.g., models trained with human grasp data would be difficult to transfer to 3-finger grippers. To tackle these deficiencies, we formulate a fast and differentiable force closure estimation method, capable of producing diverse and physically stable grasps with arbitrary hand structures, without any training data. Although force closure has commonly served as a measure of grasp quality, it has not been widely adopted as an optimization objective for grasp synthesis primarily due to its high computational complexity; in comparison, the proposed differentiable method can test a force closure within milliseconds. In experiments, we validate the proposed method's efficacy in 6 different settings.

Key facts. Cited by 70 papers in the map (data through 7 Oct 2026). First posted on arXiv 19 Apr 2021.

Builds on

No reference list yet.

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 6; 2023: 6; 2024: 15; 2025: 23; 2026: 20.

70 papers.

Sort:

By area:

  1. 2023Diffusion-based Generation, Optimization, and Planning in 3D Scenescited by 237
  2. 2022DexGraspNet: A Large-Scale Robotic Dexterous Grasp Dataset for General Objects Based on Simulationcited by 129
  3. 2023UniDexGrasp: Universal Robotic Dexterous Grasping via Learning Diverse Proposal Generation and Goal-Conditioned Policycited by 117
  4. 2025DexGraspVLA: A Vision-Language-Action Framework Towards General Dexterous Graspingcited by 87
  5. 2024Human-Object Interaction from Human-Level Instructionscited by 62
  6. 2024DiffH2O: Diffusion-Based Synthesis of Hand-Object Interactions from Textual Descriptionscited by 60
  7. 2022GenDexGrasp: Generalizable Dexterous Graspingcited by 54
  8. 2022Learning Generalizable Dexterous Manipulation from Human Grasp Affordancecited by 46
  9. 2024DexGraspNet 2.0: Learning Generative Dexterous Grasping in Large-scale Synthetic Cluttered Scenescited by 41
  10. 2024EasyHOI: Unleashing the Power of Large Models for Reconstructing Hand-Object Interactions in the Wildcited by 33
  11. 2023UGG: Unified Generative Graspingcited by 30
  12. 2024SemGrasp: Semantic Grasp Generation via Language Aligned Discretizationcited by 29
38 more
  1. 2025DexGrasp Anything: Towards Universal Robotic Dexterous Grasping with Physics Awarenesscited by 25
  2. 2024Ag2Manip: Learning Novel Manipulation Skills with Agent-Agnostic Visual and Action Representationscited by 23
  3. 2025Dex1B: Learning with 1B Demonstrations for Dexterous Manipulationcited by 23
  4. 2025Dexonomy: Synthesizing All Dexterous Grasp Types in a Grasp Taxonomycited by 19
  5. 2025DexVLG: Dexterous Vision-Language-Grasp Model at Scalecited by 19
  6. 2023Grasp Multiple Objects with One Handcited by 18
  7. 2024TriDi: Trilateral Diffusion of 3D Humans, Objects, and Interactionscited by 18
  8. 2025AnyDexGrasp: General Dexterous Grasping for Different Hands with Human-level Learning Efficiencycited by 14
  9. 2023SynH2R: Synthesizing Hand-Object Motions for Learning Human-to-Robot Handoverscited by 13
  10. 2025InteractAnything: Zero-shot Human Object Interaction Synthesis via LLM Feedback and Object Affordance Parsingcited by 13
  11. 2024Multi-GraspLLM: A Multimodal LLM for Multi-Hand Semantic Guided Grasp Generationcited by 12
  12. 2022On the Learning Mechanisms in Physical Reasoningcited by 11
  13. 2024Generalizing 6-DoF Grasp Detection via Domain Prior Knowledgecited by 11
  14. 2022DA2 Dataset: Toward Dexterity-Aware Dual-Arm Graspingcited by 10
  15. 2023STRAP: Structured Object Affordance Segmentation with Point Supervisioncited by 10
  16. 2025Web2Grasp: Learning Functional Grasps from Web Images of Hand-Object Interactionscited by 10
  17. 2026HumanX: Toward Agile and Generalizable Humanoid Interaction Skills from Human Videoscited by 10
  18. 2026Dex4D: Task-Agnostic Point Track Policy for Sim-to-Real Dexterous Manipulationcited by 10
  19. 2025CEDex: Cross-Embodiment Dexterous Grasp Generation at Scale from Human-like Contact Representationscited by 9
  20. 2022Understanding Physical Effects for Effective Tool-usecited by 7
  21. 2025GAGrasp: Geometric Algebra Diffusion for Dexterous Graspingcited by 7
  22. 2025EvolvingGrasp: Evolutionary Grasp Generation via Efficient Preference Alignmentcited by 6
  23. 2025Taccel: Scaling Up Vision-based Tactile Robotics via High-performance GPU Simulationcited by 6
  24. 2025G-DexGrasp: Generalizable Dexterous Grasping Synthesis Via Part-Aware Prior Retrieval and Prior-Assisted Generationcited by 5
  25. 2026DextER: Language-driven Dexterous Grasp Generation with Embodied Reasoningcited by 4
  26. 2024Constrained 6-DoF Grasp Generation on Complex Shapes for Improved Dual-Arm Manipulationcited by 3
  27. 2024RobotFingerPrint: Unified Gripper Coordinate Space for Multi-Gripper Grasp Synthesis and Transfercited by 3
  28. 2025Grasping a Handful: Sequential Multi-Object Dexterous Grasp Generationcited by 3
  29. 2025MachaGrasp: Morphology-Aware Cross-Embodiment Dexterous Hand Articulation Generation for Graspingcited by 3
  30. 2025Contact Map Transfer with Conditional Diffusion Model for Generalizable Dexterous Grasp Generationcited by 3
  31. 2026Blind Dexterous Grasping via Real2Sim2Real Tactile Policy Learningcited by 3
  32. 2024Local Occupancy-Enhanced Object Grasping with Multiple Triplanar Projectioncited by 2
  33. 2024Bimanual Grasp Synthesis for Dexterous Robot Handscited by 2
  34. 2025FunHOI: Annotation-Free 3D Hand-Object Interaction Generation via Functional Text Guidancecited by 2
  35. 2025Learning Adaptive Dexterous Grasping from Single Demonstrationscited by 2
  36. 2025Grasp2Grasp: Vision-Based Dexterous Grasp Translation via Schr"odinger Bridgescited by 2
  37. 2025Lightning Grasp: High Performance Procedural Grasp Synthesis with Contact Fieldscited by 2
  38. 2025From Power to Precision: Learning Fine-grained Dexterity for Multi-fingered Robotic Handscited by 2

50 most cited of 70 All 70 (JSON)