mlsanityData to 14 Oct 2026

GraspGF: Learning Score-based Grasping Primitive for Human-assisting Dexterous Grasping

arXiv 2309.06038 ↗First posted 12 Sep 2023cs.RO cs.AIcited by 23

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Abstract (arXiv)

The use of anthropomorphic robotic hands for assisting individuals in situations where human hands may be unavailable or unsuitable has gained significant importance. In this paper, we propose a novel task called human-assisting dexterous grasping that aims to train a policy for controlling a robotic hand's fingers to assist users in grasping objects. Unlike conventional dexterous grasping, this task presents a more complex challenge as the policy needs to adapt to diverse user intentions, in addition to the object's geometry. We address this challenge by proposing an approach consisting of two sub-modules: a hand-object-conditional grasping primitive called Grasping Gradient Field~(GraspGF), and a history-conditional residual policy. GraspGF learns `how' to grasp by estimating the gradient from a success grasping example set, while the residual policy determines `when' and at what speed the grasping action should be executed based on the trajectory history. Experimental results demonstrate the superiority of our proposed method compared to baselines, highlighting the user-awareness and practicality in real-world applications. The codes and demonstrations can be viewed at "https://sites.google.com/view/graspgf".

Key facts. Cited by 23 papers in the map (data through 14 Oct 2026). Builds on 40 of its 50 references that are in the map. First posted on arXiv 12 Sep 2023.

Builds on

40 of 50 references.

References · 40

  1. 2017Proximal Policy Optimization Algorithmscited by 15,215
  2. 2020Score-Based Generative Modeling through Stochastic Differential Equationscited by 9,122
  3. 2016PointNet: Deep Learning on Point Sets for 3D Classification and Segmentationcited by 5,248
  4. 2017PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Spacecited by 4,401
  5. 2019Generative Modeling by Estimating Gradients of the Data Distributioncited by 4,101
  6. 2022Elucidating the Design Space of Diffusion-Based Generative Modelscited by 3,045
  7. 2022Planning with Diffusion for Flexible Behavior Synthesiscited by 1,061
  8. 2020Improved Techniques for Training Score-Based Generative Modelscited by 1,043
  9. 2021Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learningcited by 998
  10. 2017Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrationscited by 715
  11. 2021Maximum Likelihood Training of Score-Based Diffusion Modelscited by 672
  12. 2021Solving Inverse Problems in Medical Imaging with Score-Based Generative Modelscited by 521
28 more
  1. 2022Is Conditional Generative Modeling all you need for Decision-Making?cited by 516
  2. 2019Sliced Score Matching: A Scalable Approach to Density and Score Estimationcited by 384
  3. 2020Learning Gradient Fields for Shape Generationcited by 245
  4. 2022Riemannian Score-Based Generative Modellingcited by 219
  5. 2019Deep Dynamics Models for Learning Dexterous Manipulationcited by 206
  6. 2021DexMV: Imitation Learning for Dexterous Manipulation from Human Videoscited by 206
  7. 2023UniDexGrasp: Universal Robotic Dexterous Grasping via Learning Diverse Proposal Generation and Goal-Conditioned Policycited by 124
  8. 2022Towards Human-Level Bimanual Dexterous Manipulation with Reinforcement Learningcited by 119
  9. 2019DexPilot: Vision Based Teleoperation of Dexterous Robotic Hand-Arm Systemcited by 114
  10. 2021Energy-Based Learning for Scene Graph Generationcited by 104
  11. 2020State-Only Imitation Learning for Dexterous Manipulationcited by 91
  12. 2022DexVIP: Learning Dexterous Grasping with Human Hand Pose Priors from Videocited by 89
  13. 2022DexPoint: Generalizable Point Cloud Reinforcement Learning for Sim-to-Real Dexterous Manipulationcited by 84
  14. 2021Score-Based Point Cloud Denoisingcited by 83
  15. 2023EPro-PnP: Generalized End-to-End Probabilistic Perspective-n-Points for Monocular Object Pose Estimationcited by 79
  16. 2022GFPose: Learning 3D Human Pose Prior with Gradient Fieldscited by 57
  17. 2022GenDexGrasp: Generalizable Dexterous Graspingcited by 56
  18. 2022Learning Generalizable Dexterous Manipulation from Human Grasp Affordancecited by 51
  19. 2022DiffuStereo: High Quality Human Reconstruction via Diffusion-based Stereo Using Sparse Camerascited by 43
  20. 2020Deep Differentiable Grasp Planner for High-DOF Gripperscited by 39
  21. 2022Learning Continuous Grasping Function with a Dexterous Hand from Human Demonstrationscited by 34
  22. 2022Learning High-DOF Reaching-and-Grasping via Dynamic Representation of Gripper-Object Interactioncited by 24
  23. 2022DexTransfer: Real World Multi-fingered Dexterous Grasping with Minimal Human Demonstrationscited by 22
  24. 2022Learning Robust Real-World Dexterous Grasping Policies via Implicit Shape Augmentationcited by 22
  25. 2019Generating Grasp Poses for a High-DOF Gripper Using Neural Networkscited by 17
  26. 2022HandoverSim: A Simulation Framework and Benchmark for Human-to-Robot Object Handoverscited by 15
  27. 2022GraspARL: Dynamic Grasping via Adversarial Reinforcement Learningcited by 8
  28. 2019Grasp Type Estimation for Myoelectric Prostheses using Point Cloud Feature Learningcited by 2

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Citing papers per year: 2024: 10; 2025: 9; 2026: 4.

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  1. 2025HybridVLA: Collaborative Diffusion and Autoregression in a Unified Vision-Language-Action Modelcited by 181
  2. 20243D Diffusion Policy: Generalizable Visuomotor Policy Learning via Simple 3D Representationscited by 116
  3. 2025ManipTrans: Efficient Dexterous Bimanual Manipulation Transfer via Residual Learningcited by 66
  4. 2024Omni6DPose: A Benchmark and Model for Universal 6D Object Pose Estimation and Trackingcited by 50
  5. 2025Diffusion Models for Robotic Manipulation: A Surveycited by 41
  6. 2024Scaling Diffusion Policy in Transformer to 1 Billion Parameters for Robotic Manipulationcited by 38
  7. 2024Cross-Embodiment Dexterous Grasping with Reinforcement Learningcited by 27
  8. 2024Discrete Policy: Learning Disentangled Action Space for Multi-Task Robotic Manipulationcited by 19
  9. 2025Rethinking Bimanual Robotic Manipulation: Learning with Decoupled Interaction Frameworkcited by 12
  10. 2025Dexplore: Scalable Neural Control for Dexterous Manipulation from Reference-Scoped Explorationcited by 11
  11. 2024Efficient Residual Learning with Mixture-of-Experts for Universal Dexterous Graspingcited by 10
  12. 2024Dexterous Functional Pre-Grasp Manipulation with Diffusion Policycited by 4
11 more
  1. 2025DiffusionRL: Efficient Training of Diffusion Policies for Robotic Grasping Using RL-Adapted Large-Scale Datasetscited by 4
  2. 2026Embodied3DBench: Benchmarking Low-Level Embodied Spatial Intelligence of Vision Language Modelscited by 4
  3. 2024SocialGFs: Learning Social Gradient Fields for Multi-Agent Reinforcement Learningcited by 2
  4. 2024Semantic-Geometric-Physical-Driven Robot Manipulation Skill Transfer via Skill Library and Tactile Representationcited by 1
  5. 2025Foundation Feature-Driven Online End-Effector Pose Estimation: A Marker-Free and Learning-Free Approachcited by 1
  6. 2025Task-Oriented Human Grasp Synthesis via Context- and Task-Aware Diffuserscited by 1
  7. 2024Human-centered In-building Embodied Delivery Benchmarkcited by 0
  8. 2025ISS Policy : Scalable Diffusion Policy with Implicit Scene Supervisioncited by 0
  9. 2026COBALT: Crowdsourcing Robot Learning via Cloud-Based Teleoperation with Smartphonescited by 0
  10. 2026Simulation-Driven Imitation Learning for Biosignals-Free Shared-Autonomy Prosthetic Graspingcited by 0
  11. 2026MulDP: Multimodal Diffusion Policy for Autonomous Quadruped Parkour Navigation across Complex Terrainscited by 0