# Grasp as You Say: Language-guided Dexterous Grasp Generation

arXiv: https://arxiv.org/abs/2405.19291 · HTML: https://mlsanity.com/paper/2405.19291/

## Key facts

- Cited by 40 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 29 May 2024.

## Built on by (most cited first, 30 of 40)

- [Exploring the Limits of Vision-Language-Action Manipulations in Cross-task Generalization](https://mlsanity.com/paper/2505.15660/) (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)
- [An Economic Framework for 6-DoF Grasp Detection](https://mlsanity.com/paper/2407.08366/) (2024)
- [ChainHOI: Joint-based Kinematic Chain Modeling for Human-Object Interaction Generation](https://mlsanity.com/paper/2503.13130/) (2025)
- [DexVLG: Dexterous Vision-Language-Grasp Model at Scale](https://mlsanity.com/paper/2507.02747/) (2025)
- [OpenHOI: Open-World Hand-Object Interaction Synthesis with Multimodal Large Language Model](https://mlsanity.com/paper/2505.18947/) (2025)
- [LOME: Learning Human-Object Manipulation with Action-Conditioned Egocentric World Model](https://mlsanity.com/paper/2603.27449/) (2026)
- [Multi-GraspLLM: A Multimodal LLM for Multi-Hand Semantic Guided Grasp Generation](https://mlsanity.com/paper/2412.08468/) (2024)
- [Rethinking Bimanual Robotic Manipulation: Learning with Decoupled Interaction Framework](https://mlsanity.com/paper/2503.09186/) (2025)
- [VLANeXt: Recipes for Building Strong VLA Models](https://mlsanity.com/paper/2602.18532/) (2026)
- [TOUCH: Text-guided Controllable Generation of Free-Form Hand-Object Interactions](https://mlsanity.com/paper/2510.14874/) (2025)
- [EvolvingGrasp: Evolutionary Grasp Generation via Efficient Preference Alignment](https://mlsanity.com/paper/2503.14329/) (2025)
- [Panoptic Captioning: An Equivalence Bridge for Image and Text](https://mlsanity.com/paper/2505.16334/) (2025)
- [G-DexGrasp: Generalizable Dexterous Grasping Synthesis Via Part-Aware Prior Retrieval and Prior-Assisted Generation](https://mlsanity.com/paper/2503.19457/) (2025)
- [ADPro: a Test-time Adaptive Diffusion Policy via Manifold-constrained Denoising and Task-aware Initialization for Robotic Manipulation](https://mlsanity.com/paper/2508.06266/) (2025)
- [Universal Dexterous Functional Grasping via Demonstration-Editing Reinforcement Learning](https://mlsanity.com/paper/2512.13380/) (2025)
- [DextER: Language-driven Dexterous Grasp Generation with Embodied Reasoning](https://mlsanity.com/paper/2601.16046/) (2026)
- [Contact Map Transfer with Conditional Diffusion Model for Generalizable Dexterous Grasp Generation](https://mlsanity.com/paper/2511.01276/) (2025)
- [UniHM: Unified Dexterous Hand Manipulation with Vision Language Model](https://mlsanity.com/paper/2603.00732/) (2026)
- [FunHOI: Annotation-Free 3D Hand-Object Interaction Generation via Functional Text Guidance](https://mlsanity.com/paper/2502.20805/) (2025)
- [GraspCoT: Integrating Physical Property Reasoning for 6-DoF Grasping under Flexible Language Instructions](https://mlsanity.com/paper/2503.16013/) (2025)
- [Affordance-Guided Diffusion Prior for 3D Hand Reconstruction](https://mlsanity.com/paper/2510.00506/) (2025)
- [OmniDexVLG: Learning Dexterous Grasp Generation from Vision Language Model-Guided Grasp Semantics, Taxonomy and Functional Affordance](https://mlsanity.com/paper/2512.03874/) (2025)
- [AffordGrasp: Cross-Modal Diffusion for Affordance-Aware Grasp Synthesis](https://mlsanity.com/paper/2603.08021/) (2026)
- [DynamicManip: Enabling Dynamic Manipulation from a Single Static Demonstration](https://mlsanity.com/paper/2608.01452/) (2026)
- [EFF-Grasp: Energy-Field Flow Matching for Physics-Aware Dexterous Grasp Generation](https://mlsanity.com/paper/2603.16151/) (2026)
- [HO-Flow: Generalizable Hand-Object Interaction Generation with Latent Flow Matching](https://mlsanity.com/paper/2604.10836/) (2026)
- [EAGG: Embodiment-Aligned Grasp Generation via Geometry-Aware Graph Conditioning](https://mlsanity.com/paper/2606.18092/) (2026)
- [A Closed-Loop Multi-Agent Framework for Robust Multi-Robot Manipulation](https://mlsanity.com/paper/2607.06990/) (2026)

## Abstract (arXiv)

This paper explores a novel task "Dexterous Grasp as You Say" (DexGYS), enabling robots to perform dexterous grasping based on human commands expressed in natural language. However, the development of this field is hindered by the lack of datasets with natural human guidance; thus, we propose a language-guided dexterous grasp dataset, named DexGYSNet, offering high-quality dexterous grasp annotations along with flexible and fine-grained human language guidance. Our dataset construction is cost-efficient, with the carefully-design hand-object interaction retargeting strategy, and the LLM-assisted language guidance annotation system. Equipped with this dataset, we introduce the DexGYSGrasp framework for generating dexterous grasps based on human language instructions, with the capability of producing grasps that are intent-aligned, high quality and diversity. To achieve this capability, our framework decomposes the complex learning process into two manageable progressive objectives and introduce two components to realize them. The first component learns the grasp distribution focusing on intention alignment and generation diversity. And the second component refines the grasp quality while maintaining intention consistency. Extensive experiments are conducted on DexGYSNet and real world environments for validation.