mlsanityData to 7 Oct 2026

GenDexGrasp: Generalizable Dexterous Grasping

arXiv 2210.00722 ↗First posted 3 Oct 2022cs.RO cs.CVcited by 54

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Abstract (arXiv)

Generating dexterous grasping has been a long-standing and challenging robotic task. Despite recent progress, existing methods primarily suffer from two issues. First, most prior arts focus on a specific type of robot hand, lacking the generalizable capability of handling unseen ones. Second, prior arts oftentimes fail to rapidly generate diverse grasps with a high success rate. To jointly tackle these challenges with a unified solution, we propose GenDexGrasp, a novel hand-agnostic grasping algorithm for generalizable grasping. GenDexGrasp is trained on our proposed large-scale multi-hand grasping dataset MultiDex synthesized with force closure optimization. By leveraging the contact map as a hand-agnostic intermediate representation, GenDexGrasp efficiently generates diverse and plausible grasping poses with a high success rate and can transfer among diverse multi-fingered robotic hands. Compared with previous methods, GenDexGrasp achieves a three-way trade-off among success rate, inference speed, and diversity. Code is available at https://github.com/tengyu-liu/GenDexGrasp.

Key facts. Cited by 54 papers in the map (data through 7 Oct 2026). Builds on 32 of its 44 references that are in the map. First posted on arXiv 3 Oct 2022.

Builds on

32 of 44 references.

References · 32

  1. 2016PointNet: Deep Learning on Point Sets for 3D Classification and Segmentationcited by 5,223
  2. 2019DeepSDF: Learning Continuous Signed Distance Functions for Shape Representationcited by 2,682
  3. 2021Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learningcited by 882
  4. 2020GRAB: A Dataset of Whole-Body Human Grasping of Objectscited by 397
  5. 2019Learning joint reconstruction of hands and manipulated objectscited by 377
  6. 2021DexYCB: A Benchmark for Capturing Hand Grasping of Objectscited by 320
  7. 20196-DOF GraspNet: Variational Grasp Generation for Object Manipulationcited by 237
  8. 2019Deep Dynamics Models for Learning Dexterous Manipulationcited by 200
  9. 2020ContactPose: A Dataset of Grasps with Object Contact and Hand Posecited by 180
  10. 2022Embodied Hands: Modeling and Capturing Hands and Bodies Togethercited by 179
  11. 2021Hand-Object Contact Consistency Reasoning for Human Grasps Generationcited by 160
  12. 2019ContactDB: Analyzing and Predicting Grasp Contact via Thermal Imagingcited by 145
20 more
  1. 2021GOAL: Generating 4D Whole-Body Motion for Hand-Object Graspingcited by 142
  2. 2021ContactOpt: Optimizing Contact to Improve Graspscited by 137
  3. 2021Keypoint Transformer: Solving Joint Identification in Challenging Hands and Object Interactions for Accurate 3D Pose Estimationcited by 122
  4. 2020State-Only Imitation Learning for Dexterous Manipulationcited by 90
  5. 2019ContactGrasp: Functional Multi-finger Grasp Synthesis from Contactcited by 87
  6. 2022DexVIP: Learning Dexterous Grasping with Human Hand Pose Priors from Videocited by 83
  7. 2020Learning Dexterous Grasping with Object-Centric Visual Affordancescited by 80
  8. 2022Dexterous Imitation Made Easy: A Learning-Based Framework for Efficient Dexterous Manipulationcited by 75
  9. 2021Synthesizing Diverse and Physically Stable Grasps with Arbitrary Hand Structures using Differentiable Force Closure Estimatorcited by 70
  10. 2022Grasp'D: Differentiable Contact-rich Grasp Synthesis for Multi-fingered Handscited by 49
  11. 2020Deep Differentiable Grasp Planner for High-DOF Gripperscited by 39
  12. 2019Learning Task-Oriented Grasping from Human Activity Datasetscited by 32
  13. 2020On the Effectiveness of Weight-Encoded Neural Implicit 3D Shapescited by 29
  14. 2021DDGC: Generative Deep Dexterous Grasping in Cluttercited by 28
  15. 2022Learning High-DOF Reaching-and-Grasping via Dynamic Representation of Gripper-Object Interactioncited by 23
  16. 2020Multi-FinGAN: Generative Coarse-To-Fine Sampling of Multi-Finger Graspscited by 20
  17. 2022Learning Diverse and Physically Feasible Dexterous Grasps with Generative Model and Bilevel Optimizationcited by 20
  18. 2020AdaGrasp: Learning an Adaptive Gripper-Aware Grasping Policycited by 16
  19. 2022NeuralGrasps: Learning Implicit Representations for Grasps of Multiple Robotic Handscited by 12
  20. 2022EfficientGrasp: A Unified Data-Efficient Learning to Grasp Method for Multi-fingered Robot Handscited by 7

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 1; 2023: 10; 2024: 13; 2025: 16; 2026: 14.

54 papers.

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  1. 2023Diffusion-based Generation, Optimization, and Planning in 3D Scenescited by 237
  2. 2023UniDexGrasp: Universal Robotic Dexterous Grasping via Learning Diverse Proposal Generation and Goal-Conditioned Policycited by 117
  3. 2025DexGraspVLA: A Vision-Language-Action Framework Towards General Dexterous Graspingcited by 87
  4. 2024Robo-ABC: Affordance Generalization Beyond Categories via Semantic Correspondence for Robot Manipulationcited by 69
  5. 2023ArtiGrasp: Physically Plausible Synthesis of Bi-Manual Dexterous Grasping and Articulationcited by 53
  6. 2024DexDiffuser: Generating Dexterous Grasps with Diffusion Modelscited by 46
  7. 2023Dexterous Functional Graspingcited by 36
  8. 2025GraspGen: A Diffusion-based Framework for 6-DOF Grasping with On-Generator Trainingcited by 32
  9. 2024Cross-Embodiment Dexterous Grasping with Reinforcement Learningcited by 24
  10. 2023GraspGF: Learning Score-based Grasping Primitive for Human-assisting Dexterous Graspingcited by 23
  11. 2024Ag2Manip: Learning Novel Manipulation Skills with Agent-Agnostic Visual and Action Representationscited by 23
  12. 2023SparseDFF: Sparse-View Feature Distillation for One-Shot Dexterous Manipulationcited by 22
38 more
  1. 2023Grasp Multiple Objects with One Handcited by 18
  2. 2025AnyDexGrasp: General Dexterous Grasping for Different Hands with Human-level Learning Efficiencycited by 14
  3. 2023GraspLDM: Generative 6-DoF Grasp Synthesis using Latent Diffusion Modelscited by 13
  4. 2022Neural-Symbolic Recursive Machine for Systematic Generalizationcited by 12
  5. 2024PreAfford: Universal Affordance-Based Pre-Grasping for Diverse Objects and Environmentscited by 11
  6. 2023STRAP: Structured Object Affordance Segmentation with Point Supervisioncited by 10
  7. 2025Web2Grasp: Learning Functional Grasps from Web Images of Hand-Object Interactionscited by 10
  8. 2024Seeing the Unseen: Visual Common Sense for Semantic Placementcited by 9
  9. 2025CEDex: Cross-Embodiment Dexterous Grasp Generation at Scale from Human-like Contact Representationscited by 9
  10. 2024ContactDexNet: Multi-fingered Robotic Hand Grasping in Cluttered Environments through Hand-object Contact Semantic Mappingcited by 8
  11. 2024GraspDiffusion: Synthesizing Realistic Whole-body Hand-Object Interactioncited by 7
  12. 2025GAGrasp: Geometric Algebra Diffusion for Dexterous Graspingcited by 7
  13. 2025Taccel: Scaling Up Vision-based Tactile Robotics via High-performance GPU Simulationcited by 6
  14. 2024M3Bench: Benchmarking Whole-body Motion Generation for Mobile Manipulation in 3D Scenescited by 5
  15. 2024Neural Attention Field: Emerging Point Relevance in 3D Scenes for One-Shot Dexterous Graspingcited by 5
  16. 2024RobotFingerPrint: Unified Gripper Coordinate Space for Multi-Gripper Grasp Synthesis and Transfercited by 3
  17. 2025Grasping a Handful: Sequential Multi-Object Dexterous Grasp Generationcited by 3
  18. 2025MachaGrasp: Morphology-Aware Cross-Embodiment Dexterous Hand Articulation Generation for Graspingcited by 3
  19. 2025Contact Map Transfer with Conditional Diffusion Model for Generalizable Dexterous Grasp Generationcited by 3
  20. 2024Bimanual Grasp Synthesis for Dexterous Robot Handscited by 2
  21. 2025Bring Your Own Grasp Generator: Leveraging Robot Grasp Generation for Prosthetic Graspingcited by 2
  22. 2025Grasp2Grasp: Vision-Based Dexterous Grasp Translation via Schr"odinger Bridgescited by 2
  23. 2026FAR-Dex: Few-shot Data Augmentation and Adaptive Residual Policy Refinement for Dexterous Manipulationcited by 2
  24. 2026HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodimentscited by 2
  25. 2025GOPLA: Generalizable Object Placement Learning via Synthetic Augmentation of Human Arrangementcited by 1
  26. 2026Generate, Transfer, Adapt: Learning Functional Dexterous Grasping from a Single Human Demonstrationcited by 1
  27. 2026UniMorphGrasp: Diffusion Model with Morphology-Awareness for Cross-Embodiment Dexterous Grasp Generationcited by 1
  28. 2026EFF-Grasp: Energy-Field Flow Matching for Physics-Aware Dexterous Grasp Generationcited by 1
  29. 2026EquiDexFlow: Contact-Grounded SE(3)-Equivariant Dexterous Grasp Generative Flowscited by 1
  30. 2026EAGG: Embodiment-Aligned Grasp Generation via Geometry-Aware Graph Conditioningcited by 1
  31. 2026Adaptive Vision-Language Grasping via Composable Foundation Priors and Generalizable Grasp Synthesiscited by 1
  32. 2023A Reconfigurable Data Glove for Reconstructing Physical and Virtual Graspscited by 0
  33. 2024GenHeld: Generating and Editing Handheld Objectscited by 0
  34. 2025Object-Focus Actor for Data-efficient Robot Generalization Dexterous Manipulationcited by 0
  35. 2025XGrasp: Gripper-Aware Grasp Detection with Multi-Gripper Data Generationcited by 0
  36. 2025Leveraging CVAE for Joint Configuration Estimation of Multifingered Grippers from Point Cloud Datacited by 0
  37. 2026FastGrasp: Learning-based Whole-Body Control Method for Fast Dexterous Grasping with Mobile Manipulatorscited by 0
  38. 2026SECOND-Grasp: Semantic Contact-guided Dexterous Graspingcited by 0

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