mlsanityData to 7 Oct 2026

Grasp Multiple Objects with One Hand

arXiv 2310.15599 ↗First posted 24 Oct 2023cs.RO cs.CVcited by 18

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Abstract (arXiv)

The intricate kinematics of the human hand enable simultaneous grasping and manipulation of multiple objects, essential for tasks such as object transfer and in-hand manipulation. Despite its significance, the domain of robotic multi-object grasping is relatively unexplored and presents notable challenges in kinematics, dynamics, and object configurations. This paper introduces MultiGrasp, a novel two-stage approach for multi-object grasping using a dexterous multi-fingered robotic hand on a tabletop. The process consists of (i) generating pre-grasp proposals and (ii) executing the grasp and lifting the objects. Our experimental focus is primarily on dual-object grasping, achieving a success rate of 44.13%, highlighting adaptability to new object configurations and tolerance for imprecise grasps. Additionally, the framework demonstrates the potential for grasping more than two objects at the cost of inference speed.

Key facts. Cited by 18 papers in the map (data through 7 Oct 2026). Builds on 42 of its 71 references that are in the map. First posted on arXiv 24 Oct 2023.

Builds on

42 of 71 references.

References · 42

  1. 2020Denoising Diffusion Probabilistic Modelscited by 20,851
  2. 2017Proximal Policy Optimization Algorithmscited by 14,441
  3. 2016PointNet: Deep Learning on Point Sets for 3D Classification and Segmentationcited by 5,223
  4. 2017PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Spacecited by 4,384
  5. 2021Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learningcited by 882
  6. 2018Learning Dexterous In-Hand Manipulationcited by 643
  7. 2020Learning Quadrupedal Locomotion over Challenging Terraincited by 494
  8. 2019Learning agile and dynamic motor skills for legged robotscited by 402
  9. 2019Learning by Cheatingcited by 361
  10. 2022Learning robust perceptive locomotion for quadrupedal robots in the wildcited by 299
  11. 2023Diffusion-based Generation, Optimization, and Planning in 3D Scenescited by 237
  12. 2022AnyGrasp: Robust and Efficient Grasp Perception in Spatial and Temporal Domainscited by 205
30 more
  1. 2021Neural Descriptor Fields: SE(3)-Equivariant Object Representations for Manipulationcited by 204
  2. 2021Hand-Object Contact Consistency Reasoning for Human Grasps Generationcited by 160
  3. 2021A System for General In-Hand Object Re-Orientationcited by 155
  4. 2019ContactDB: Analyzing and Predicting Grasp Contact via Thermal Imagingcited by 145
  5. 2022Goal-Conditioned Reinforcement Learning: Problems and Solutionscited by 145
  6. 2021ContactOpt: Optimizing Contact to Improve Graspscited by 137
  7. 2022DexGraspNet: A Large-Scale Robotic Dexterous Grasp Dataset for General Objects Based on Simulationcited by 129
  8. 2022SE(3)-DiffusionFields: Learning smooth cost functions for joint grasp and motion optimization through diffusioncited by 125
  9. 2023UniDexGrasp: Universal Robotic Dexterous Grasping via Learning Diverse Proposal Generation and Goal-Conditioned Policycited by 117
  10. 2020ACRONYM: A Large-Scale Grasp Dataset Based on Simulationcited by 115
  11. 2020We are More than Our Joints: Predicting how 3D Bodies Movecited by 115
  12. 2022Towards Human-Level Bimanual Dexterous Manipulation with Reinforcement Learningcited by 113
  13. 2013Data-Driven Grasp Synthesis - A Surveycited by 104
  14. 2023UniDexGrasp++: Improving Dexterous Grasping Policy Learning via Geometry-aware Curriculum and Iterative Generalist-Specialist Learningcited by 101
  15. 2019ContactGrasp: Functional Multi-finger Grasp Synthesis from Contactcited by 87
  16. 2023Rotating without Seeing: Towards In-hand Dexterity through Touchcited by 78
  17. 2021Synthesizing Diverse and Physically Stable Grasps with Arbitrary Hand Structures using Differentiable Force Closure Estimatorcited by 70
  18. 2022End-to-End Affordance Learning for Robotic Manipulationcited by 54
  19. 2022GenDexGrasp: Generalizable Dexterous Graspingcited by 54
  20. 2022ToolFlowNet: Robotic Manipulation with Tools via Predicting Tool Flow from Point Cloudscited by 54
  21. 2022Grasp'D: Differentiable Contact-rich Grasp Synthesis for Multi-fingered Handscited by 49
  22. 2020Deep Differentiable Grasp Planner for High-DOF Gripperscited by 39
  23. 2023DTC: Deep Tracking Controlcited by 37
  24. 2023RoboPianist: Dexterous Piano Playing with Deep Reinforcement Learningcited by 29
  25. 2021DDGC: Generative Deep Dexterous Grasping in Cluttercited by 28
  26. 2022Learning High-DOF Reaching-and-Grasping via Dynamic Representation of Gripper-Object Interactioncited by 23
  27. 2020Multi-FinGAN: Generative Coarse-To-Fine Sampling of Multi-Finger Graspscited by 20
  28. 2023Exploiting Kinematic Redundancy for Robotic Grasping of Multiple Objectscited by 7
  29. 2022Multi-Object Grasping in the Planecited by 5
  30. 2022Multi-Object Grasping -- Types and Taxonomycited by 4

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 9; 2025: 8; 2026: 1.

18 papers.

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  1. 2024Move as You Say, Interact as You Can: Language-guided Human Motion Generation with Scene Affordancecited by 79
  2. 2024DiffH2O: Diffusion-Based Synthesis of Hand-Object Interactions from Textual Descriptionscited by 60
  3. 2025ManipTrans: Efficient Dexterous Bimanual Manipulation Transfer via Residual Learningcited by 56
  4. 2025ControlVLA: Few-shot Object-centric Adaptation for Pre-trained Vision-Language-Action Modelscited by 43
  5. 2024A Survey of Embodied Learning for Object-Centric Robotic Manipulationcited by 34
  6. 2025Decompositional Neural Scene Reconstruction with Generative Diffusion Priorcited by 30
  7. 2024Ag2Manip: Learning Novel Manipulation Skills with Agent-Agnostic Visual and Action Representationscited by 23
  8. 2024PreAfford: Universal Affordance-Based Pre-Grasping for Diverse Objects and Environmentscited by 11
  9. 2025G4Splat: Geometry-Guided Gaussian Splatting with Generative Priorcited by 10
  10. 2024MOVIS: Enhancing Multi-Object Novel View Synthesis for Indoor Scenescited by 9
  11. 2025Taccel: Scaling Up Vision-based Tactile Robotics via High-performance GPU Simulationcited by 6
  12. 2024Dexterous Functional Pre-Grasp Manipulation with Diffusion Policycited by 3
6 more
  1. 2025Grasping a Handful: Sequential Multi-Object Dexterous Grasp Generationcited by 3
  2. 2025Contact Map Transfer with Conditional Diffusion Model for Generalizable Dexterous Grasp Generationcited by 3
  3. 2024Bimanual Grasp Synthesis for Dexterous Robot Handscited by 2
  4. 2024RegionGrasp: A Novel Task for Contact Region Controllable Hand Grasp Generationcited by 1
  5. 2025Learning to Push, Group, and Grasp: A Diffusion Policy Approach for Multi-Object Deliverycited by 0
  6. 2026DexCompose: Reusing Dexterous Policies for Multi-Task Manipulation with a Single Handcited by 0