# Dexterous Grasp Transformer

arXiv: https://arxiv.org/abs/2404.18135 · HTML: https://mlsanity.com/paper/2404.18135/

## Key facts

- Cited by 18 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 28 Apr 2024.

## Built on by (most cited first, 18 of 18)

- [Decoupled Distillation to Erase: A General Unlearning Method for Any Class-centric Tasks](https://mlsanity.com/paper/2503.23751/) (2025)
- [DexGrasp Anything: Towards Universal Robotic Dexterous Grasping with Physics Awareness](https://mlsanity.com/paper/2503.08257/) (2025)
- [Mitigating the Human-Robot Domain Discrepancy in Visual Pre-training for Robotic Manipulation](https://mlsanity.com/paper/2406.14235/) (2024)
- [Multi-GraspLLM: A Multimodal LLM for Multi-Hand Semantic Guided Grasp Generation](https://mlsanity.com/paper/2412.08468/) (2024)
- [VLANeXt: Recipes for Building Strong VLA Models](https://mlsanity.com/paper/2602.18532/) (2026)
- [Panorama Generation From NFoV Image Done Right](https://mlsanity.com/paper/2503.18420/) (2025)
- [EvolvingGrasp: Evolutionary Grasp Generation via Efficient Preference Alignment](https://mlsanity.com/paper/2503.14329/) (2025)
- [G-DexGrasp: Generalizable Dexterous Grasping Synthesis Via Part-Aware Prior Retrieval and Prior-Assisted Generation](https://mlsanity.com/paper/2503.19457/) (2025)
- [HuMoCon: Concept Discovery for Human Motion Understanding](https://mlsanity.com/paper/2505.20920/) (2025)
- [DextER: Language-driven Dexterous Grasp Generation with Embodied Reasoning](https://mlsanity.com/paper/2601.16046/) (2026)
- [Few-Shot Vision-Language Action-Incremental Policy Learning](https://mlsanity.com/paper/2504.15517/) (2025)
- [Contact Map Transfer with Conditional Diffusion Model for Generalizable Dexterous Grasp Generation](https://mlsanity.com/paper/2511.01276/) (2025)
- [UniMorphGrasp: Diffusion Model with Morphology-Awareness for Cross-Embodiment Dexterous Grasp Generation](https://mlsanity.com/paper/2602.00915/) (2026)
- [A Unified Transformer-Based Framework with Pretraining For Whole Body Grasping Motion Generation](https://mlsanity.com/paper/2507.00676/) (2025)
- [SECOND-Grasp: Semantic Contact-guided Dexterous Grasping](https://mlsanity.com/paper/2605.13117/) (2026)
- [NDPP-Grasp: Non-Differentiable Physical Plausibility Constraint-Guided Task-Oriented Dexterous Grasp Generation](https://mlsanity.com/paper/2606.02432/) (2026)
- [KPGrasp: Scalable Keypoint Flow Matching for Dexterous Grasp Generation](https://mlsanity.com/paper/2606.09314/) (2026)
- [VolCo: Volumetric Contact for High-Fidelity Human Grasp Generation](https://mlsanity.com/paper/2610.10197/) (2026)

## Abstract (arXiv)

In this work, we propose a novel discriminative framework for dexterous grasp generation, named Dexterous Grasp TRansformer (DGTR), capable of predicting a diverse set of feasible grasp poses by processing the object point cloud with only one forward pass. We formulate dexterous grasp generation as a set prediction task and design a transformer-based grasping model for it. However, we identify that this set prediction paradigm encounters several optimization challenges in the field of dexterous grasping and results in restricted performance. To address these issues, we propose progressive strategies for both the training and testing phases. First, the dynamic-static matching training (DSMT) strategy is presented to enhance the optimization stability during the training phase. Second, we introduce the adversarial-balanced test-time adaptation (AB-TTA) with a pair of adversarial losses to improve grasping quality during the testing phase. Experimental results on the DexGraspNet dataset demonstrate the capability of DGTR to predict dexterous grasp poses with both high quality and diversity. Notably, while keeping high quality, the diversity of grasp poses predicted by DGTR significantly outperforms previous works in multiple metrics without any data pre-processing. Codes are available at https://github.com/iSEE-Laboratory/DGTR .