mlsanityData to 7 Oct 2026

DexDiffuser: Generating Dexterous Grasps with Diffusion Models

arXiv 2402.02989 ↗First posted 5 Feb 2024cs.RO cs.LGcited by 46

On the map: Diffusion models → Diffusion and flow policies for robotics

Abstract (arXiv)

We introduce DexDiffuser, a novel dexterous grasping method that generates, evaluates, and refines grasps on partial object point clouds. DexDiffuser includes the conditional diffusion-based grasp sampler DexSampler and the dexterous grasp evaluator DexEvaluator. DexSampler generates high-quality grasps conditioned on object point clouds by iterative denoising of randomly sampled grasps. We also introduce two grasp refinement strategies: Evaluator-Guided Diffusion (EGD) and Evaluator-based Sampling Refinement (ESR). The experiment results demonstrate that DexDiffuser consistently outperforms the state-of-the-art multi-finger grasp generation method FFHNet with an, on average, 9.12% and 19.44% higher grasp success rate in simulation and real robot experiments, respectively. Supplementary materials are available at https://yulihn.github.io/DexDiffuser_page/

Key facts. Cited by 46 papers in the map (data through 7 Oct 2026). Placed in Diffusion and flow policies for robotics, one of 14 directions in Diffusion models. Builds on 36 of its 47 references that are in the map. First posted on arXiv 5 Feb 2024.

Builds on

36 of 47 references.

Closest ancestors · 7

Same direction, newest first

  1. 2023PlayFusion: Skill Acquisition via Diffusion from Language-Annotated Play7 Dec
  2. 2023Diffusion-EDFs: Bi-equivariant Denoising Generative Modeling on SE(3) for Visual Robotic Manipulation6 Sep
  3. 2023Motion Planning Diffusion: Learning and Planning of Robot Motions with Diffusion Models3 Aug
  4. 2023Diffusion Policy: Visuomotor Policy Learning via Action Diffusion7 Mar
  5. 2023Diffusion-based Generation, Optimization, and Planning in 3D Scenes15 Jan
  6. 2022StructDiffusion: Language-Guided Creation of Physically-Valid Structures using Unseen Objects8 Nov
  7. 2022SE(3)-DiffusionFields: Learning smooth cost functions for joint grasp and motion optimization through diffusion8 Sep

Other references · 29

  1. 2021High-Resolution Image Synthesis with Latent Diffusion Modelscited by 18,694
  2. 2022Photorealistic Text-to-Image Diffusion Models with Deep Language Understandingcited by 6,322
  3. 2022Classifier-Free Diffusion Guidancecited by 5,717
  4. 2017PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Spacecited by 4,384
  5. 2018On the Continuity of Rotation Representations in Neural Networkscited by 1,186
  6. 2021Cascaded Diffusion Models for High Fidelity Image Generationcited by 1,155
  7. 2022Diffusion Models: A Comprehensive Survey of Methods and Applicationscited by 1,107
  8. 2021Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learningcited by 882
  9. 20196-DOF GraspNet: Variational Grasp Generation for Object Manipulationcited by 237
  10. 2022DexGraspNet: A Large-Scale Robotic Dexterous Grasp Dataset for General Objects Based on Simulationcited by 129
  11. 2023UniDexGrasp: Universal Robotic Dexterous Grasping via Learning Diverse Proposal Generation and Goal-Conditioned Policycited by 117
  12. 2019Efficient Learning on Point Clouds with Basis Point Setscited by 101
17 more
  1. 2023UniDexGrasp++: Improving Dexterous Grasping Policy Learning via Geometry-aware Curriculum and Iterative Generalist-Specialist Learningcited by 101
  2. 2020Learning Dexterous Grasping with Object-Centric Visual Affordancescited by 80
  3. 2022DexPoint: Generalizable Point Cloud Reinforcement Learning for Sim-to-Real Dexterous Manipulationcited by 78
  4. 20196-DOF Grasping for Target-driven Object Manipulation in Cluttercited by 70
  5. 2022Deep Learning Approaches to Grasp Synthesis: A Reviewcited by 69
  6. 2020EGAD! an Evolved Grasping Analysis Dataset for diversity and reproducibility in robotic manipulationcited by 61
  7. 2022GenDexGrasp: Generalizable Dexterous Graspingcited by 54
  8. 2023UGG: Unified Generative Graspingcited by 30
  9. 2023Shelving, Stacking, Hanging: Relational Pose Diffusion for Multi-modal Rearrangementcited by 29
  10. 2019Learning Continuous 3D Reconstructions for Geometrically Aware Graspingcited by 28
  11. 2021DDGC: Generative Deep Dexterous Grasping in Cluttercited by 28
  12. 2020Multi-FinGAN: Generative Coarse-To-Fine Sampling of Multi-Finger Graspscited by 20
  13. 2022Learning Diverse and Physically Feasible Dexterous Grasps with Generative Model and Bilevel Optimizationcited by 20
  14. 2019Generating Grasp Poses for a High-DOF Gripper Using Neural Networkscited by 17
  15. 2023Diffusion Co-Policy for Synergistic Human-Robot Collaborative Taskscited by 15
  16. 2022DVGG: Deep Variational Grasp Generation for Dextrous Manipulationcited by 14
  17. 2020Multi-Fingered Active Grasp Learningcited by 13

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 12; 2025: 20; 2026: 14.

46 papers.

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By area:

  1. 2024DiffusionDrive: Truncated Diffusion Model for End-to-End Autonomous Drivingcited by 324
  2. 2025Diffusion Models for Robotic Manipulation: A Surveycited by 39
  3. 2024Motion Planning Diffusion: Learning and Adapting Robot Motion Planning with Diffusion Modelscited by 32
  4. 2025GraspGen: A Diffusion-based Framework for 6-DOF Grasping with On-Generator Trainingcited by 32
  5. 2024M2Diffuser: Diffusion-based Trajectory Optimization for Mobile Manipulation in 3D Scenescited by 26
  6. 2025DexGrasp Anything: Towards Universal Robotic Dexterous Grasping with Physics Awarenesscited by 25
  7. 2025Dex1B: Learning with 1B Demonstrations for Dexterous Manipulationcited by 23
  8. 2025Dexonomy: Synthesizing All Dexterous Grasp Types in a Grasp Taxonomycited by 19
  9. 2024DexHandDiff: Interaction-aware Diffusion Planning for Adaptive Dexterous Manipulationcited by 15
  10. 2024Language-Guided Object-Centric Diffusion Policy for Generalizable and Collision-Aware Robotic Manipulationcited by 14
  11. 2025Real-Time Iteration Scheme for Diffusion Policycited by 8
  12. 2024Text2Grasp: Grasp synthesis by text prompts of object grasping partscited by 7
34 more
  1. 2024GraspDiffusion: Synthesizing Realistic Whole-body Hand-Object Interactioncited by 7
  2. 2025GAGrasp: Geometric Algebra Diffusion for Dexterous Graspingcited by 7
  3. 2025EvolvingGrasp: Evolutionary Grasp Generation via Efficient Preference Alignmentcited by 6
  4. 2025G-DexGrasp: Generalizable Dexterous Grasping Synthesis Via Part-Aware Prior Retrieval and Prior-Assisted Generationcited by 5
  5. 2026Action-Geometry Prediction with 3D Geometric Prior for Bimanual Manipulationcited by 5
  6. 2024Joint Diffusion for Universal Hand-Object Grasp Generationcited by 4
  7. 2025ManiDP: Manipulability-Aware Diffusion Policy for Posture-Dependent Bimanual Manipulationcited by 4
  8. 2026DextER: Language-driven Dexterous Grasp Generation with Embodied Reasoningcited by 4
  9. 2024Dexterous Functional Pre-Grasp Manipulation with Diffusion Policycited by 3
  10. 2024FFHFlow: Diverse and Uncertainty-Aware Dexterous Grasp Generation via Flow Variational Inferencecited by 3
  11. 2025Grasping a Handful: Sequential Multi-Object Dexterous Grasp Generationcited by 3
  12. 2025Contact Map Transfer with Conditional Diffusion Model for Generalizable Dexterous Grasp Generationcited by 3
  13. 2026HeRO: Hierarchical 3D Semantic Representation for Pose-aware Object Manipulationcited by 3
  14. 2024Bimanual Grasp Synthesis for Dexterous Robot Handscited by 2
  15. 2025FunHOI: Annotation-Free 3D Hand-Object Interaction Generation via Functional Text Guidancecited by 2
  16. 2025Grasp2Grasp: Vision-Based Dexterous Grasp Translation via Schr"odinger Bridgescited by 2
  17. 2025Lightning Grasp: High Performance Procedural Grasp Synthesis with Contact Fieldscited by 2
  18. 2025OmniDexVLG: Learning Dexterous Grasp Generation from Vision Language Model-Guided Grasp Semantics, Taxonomy and Functional Affordancecited by 2
  19. 2025Diffusing Trajectory Optimization Problems for Recovery During Multi-Finger Manipulationcited by 1
  20. 2026EFF-Grasp: Energy-Field Flow Matching for Physics-Aware Dexterous Grasp Generationcited by 1
  21. 2026EquiDexFlow: Contact-Grounded SE(3)-Equivariant Dexterous Grasp Generative Flowscited by 1
  22. 2026EAGG: Embodiment-Aligned Grasp Generation via Geometry-Aware Graph Conditioningcited by 1
  23. 2024GenHeld: Generating and Editing Handheld Objectscited by 0
  24. 2025LensDFF: Language-enhanced Sparse Feature Distillation for Efficient Few-Shot Dexterous Manipulationcited by 0
  25. 2025DexCanvas: Bridging Human Demonstrations and Robot Learning for Dexterous Manipulationcited by 0
  26. 2025ISS Policy : Scalable Diffusion Policy with Implicit Scene Supervisioncited by 0
  27. 2026SECOND-Grasp: Semantic Contact-guided Dexterous Graspingcited by 0
  28. 2026NDPP-Grasp: Non-Differentiable Physical Plausibility Constraint-Guided Task-Oriented Dexterous Grasp Generationcited by 0
  29. 2026KPGrasp: Scalable Keypoint Flow Matching for Dexterous Grasp Generationcited by 0
  30. 2026WristMimic: Full-Body Humanoid Control with Wrist-Guided Manipulationcited by 0
  31. 2026MANGO-Grasp: Mahalanobis Fields over Geometry-Oriented 3D Gaussians for Cross-Embodiment Dexterous Graspingcited by 0
  32. 2026GOAG: Generative and Object-Agnostic Grasp Planner for Dexterous Robotic Manipulationcited by 0
  33. 2026CoToGrasp: Contact-Topology-Conditioned Dexterous Grasp Synthesis via Canonical Workspace Learningcited by 0
  34. 2026Dressing in Motion: A Human Motion-Aware Diffusion Policy for Robot-Assisted Dressingcited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2024DexGrasp-Diffusion: Diffusion-based Unified Functional Grasp Synthesis Method for Multi-Dexterous Robotic Hands
  2. 2024Grasp Diffusion Network: Learning Grasp Generators from Partial Point Clouds with Diffusion Models in SO(3)xR3
  3. 2024Constrained 6-DoF Grasp Generation on Complex Shapes for Improved Dual-Arm Manipulation
  4. 2023GraspLDM: Generative 6-DoF Grasp Synthesis using Latent Diffusion Models
  5. 2025HGDiffuser: Efficient Task-Oriented Grasp Generation via Human-Guided Grasp Diffusion Models
  6. 2024DexGraspNet 2.0: Learning Generative Dexterous Grasping in Large-scale Synthetic Cluttered Scenes
  7. 2026Arm-Aware Guided Dexterous Grasp Generation with Arm-Agnostic Grasp Models
  8. 2025T(R,O) Grasp: Efficient Graph Diffusion of Robot-Object Spatial Transformation for Cross-Embodiment Dexterous Grasping