mlsanityData to 7 Oct 2026

DexGraspNet 2.0: Learning Generative Dexterous Grasping in Large-scale Synthetic Cluttered Scenes

arXiv 2410.23004 ↗First posted 30 Oct 2024cs.RO cs.CVcited by 41

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Abstract (arXiv)

Grasping in cluttered scenes remains highly challenging for dexterous hands due to the scarcity of data. To address this problem, we present a large-scale synthetic benchmark, encompassing 1319 objects, 8270 scenes, and 427 million grasps. Beyond benchmarking, we also propose a novel two-stage grasping method that learns efficiently from data by using a diffusion model that conditions on local geometry. Our proposed generative method outperforms all baselines in simulation experiments. Furthermore, with the aid of test-time-depth restoration, our method demonstrates zero-shot sim-to-real transfer, attaining 90.7% real-world dexterous grasping success rate in cluttered scenes.

Key facts. Cited by 41 papers in the map (data through 7 Oct 2026). Builds on 35 of its 49 references that are in the map. First posted on arXiv 30 Oct 2024.

Builds on

35 of 49 references.

References · 35

  1. 2020Denoising Diffusion Probabilistic Modelscited by 20,851
  2. 2020Score-Based Generative Modeling through Stochastic Differential Equationscited by 8,964
  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. 2018Neural Ordinary Differential Equationscited by 3,733
  6. 2015ShapeNet: An Information-Rich 3D Model Repositorycited by 2,880
  7. 20194D Spatio-Temporal ConvNets: Minkowski Convolutional Neural Networkscited by 1,201
  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. 2021Contact-GraspNet: Efficient 6-DoF Grasp Generation in Cluttered Scenescited by 213
  11. 2022AnyGrasp: Robust and Efficient Grasp Perception in Spatial and Temporal Domainscited by 205
  12. 2021Hand-Object Contact Consistency Reasoning for Human Grasps Generationcited by 160
23 more
  1. 2022DexGraspNet: A Large-Scale Robotic Dexterous Grasp Dataset for General Objects Based on Simulationcited by 129
  2. 2018Closing the Loop for Robotic Grasping: A Real-time, Generative Grasp Synthesis Approachcited by 117
  3. 2023UniDexGrasp: Universal Robotic Dexterous Grasping via Learning Diverse Proposal Generation and Goal-Conditioned Policycited by 117
  4. 2020ACRONYM: A Large-Scale Grasp Dataset Based on Simulationcited by 115
  5. 2021D-Grasp: Physically Plausible Dynamic Grasp Synthesis for Hand-Object Interactionscited by 109
  6. 2017Grasp Pose Detection in Point Cloudscited by 107
  7. 2021Synergies Between Affordance and Geometry: 6-DoF Grasp Detection via Implicit Representationscited by 107
  8. 2023UniDexGrasp++: Improving Dexterous Grasping Policy Learning via Geometry-aware Curriculum and Iterative Generalist-Specialist Learningcited by 101
  9. 2021Volumetric Grasping Network: Real-time 6 DOF Grasp Detection in Cluttercited by 94
  10. 2020An Analysis of SVD for Deep Rotation Estimationcited by 85
  11. 2018PointNetGPD: Detecting Grasp Configurations from Point Setscited by 80
  12. 2023LEAP Hand: Low-Cost, Efficient, and Anthropomorphic Hand for Robot Learningcited by 78
  13. 2021Synthesizing Diverse and Physically Stable Grasps with Arbitrary Hand Structures using Differentiable Force Closure Estimatorcited by 70
  14. 2022Domain Randomization-Enhanced Depth Simulation and Restoration for Perceiving and Grasping Specular and Transparent Objectscited by 49
  15. 2024Graspness Discovery in Clutters for Fast and Accurate Grasp Detectioncited by 47
  16. 2023cuRobo: Parallelized Collision-Free Minimum-Jerk Robot Motion Generationcited by 46
  17. 2020Deep Differentiable Grasp Planner for High-DOF Gripperscited by 39
  18. 2023Dexterous Functional Graspingcited by 36
  19. 2021DDGC: Generative Deep Dexterous Grasping in Cluttercited by 28
  20. 2022Learning Robust Real-World Dexterous Grasping Policies via Implicit Shape Augmentationcited by 21
  21. 2018Multi-View Picking: Next-best-view Reaching for Improved Grasping in Cluttercited by 15
  22. 2024ContactDexNet: Multi-fingered Robotic Hand Grasping in Cluttered Environments through Hand-object Contact Semantic Mappingcited by 8
  23. 2019Increasing the Generalisation Capacity of Conditional VAEscited by 1

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 2; 2025: 15; 2026: 24.

41 papers.

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  1. 2025DexGraspVLA: A Vision-Language-Action Framework Towards General Dexterous Graspingcited by 87
  2. 2024Code-as-Monitor: Constraint-aware Visual Programming for Reactive and Proactive Robotic Failure Detectioncited by 59
  3. 2025Diffusion Models for Robotic Manipulation: A Surveycited by 39
  4. 2025Dex1B: Learning with 1B Demonstrations for Dexterous Manipulationcited by 23
  5. 2025Dexonomy: Synthesizing All Dexterous Grasp Types in a Grasp Taxonomycited by 19
  6. 2025DexVLG: Dexterous Vision-Language-Grasp Model at Scalecited by 19
  7. 2025Object-centric 3D Motion Field for Robot Learning from Human Videoscited by 13
  8. 2024Multi-GraspLLM: A Multimodal LLM for Multi-Hand Semantic Guided Grasp Generationcited by 12
  9. 2025EC-Flow: Enabling Versatile Robotic Manipulation from Action-Unlabeled Videos via Embodiment-Centric Flowcited by 10
  10. 2026Dex4D: Task-Agnostic Point Track Policy for Sim-to-Real Dexterous Manipulationcited by 10
  11. 2026SimToolReal: An Object-Centric Policy for Zero-Shot Dexterous Tool Manipulationcited by 10
  12. 2026Dexora: Open-source VLA for High-DoF Bimanual Dexteritycited by 9
29 more
  1. 2026DextER: Language-driven Dexterous Grasp Generation with Embodied Reasoningcited by 4
  2. 2026Data Pyramid for Embodied Manipulation: A Surveycited by 4
  3. 2025Joint Flow Trajectory Optimization For Feasible Robot Motion Generation from Video Demonstrationscited by 2
  4. 2025Lightning Grasp: High Performance Procedural Grasp Synthesis with Contact Fieldscited by 2
  5. 2026CoLA-Flow Policy: Temporally Coherent Imitation Learning via Continuous Latent Action Flow Matching for Robotic Manipulationcited by 2
  6. 2026VTouch++: A Multimodal Dataset with Vision-Based Tactile Enhancement for Bimanual Manipulationcited by 2
  7. 2026Bench2Dex: Benchmarking Visuo-Tactile Bimanual Dexterous Manipulation Across Dexterous Handscited by 2
  8. 2025Simultaneous Pick and Place Detection by Combining SE(3) Diffusion Models with Differential Kinematicscited by 1
  9. 2025Rodrigues Network for Learning Robot Actionscited by 1
  10. 2025Equivariant Volumetric Graspingcited by 1
  11. 2026D-REX: Differentiable Real-to-Sim-to-Real Engine for Learning Dexterous Graspingcited by 1
  12. 2026SIM1: Physics-Aligned Simulator as Zero-Shot Data Scaler in Deformable Worldscited by 1
  13. 2026X-DiffVLA: X-Embodied Diffusion Action Heads for Vision-Language-Action Modelscited by 1
  14. 2026EquiDexFlow: Contact-Grounded SE(3)-Equivariant Dexterous Grasp Generative Flowscited by 1
  15. 2026EAGG: Embodiment-Aligned Grasp Generation via Geometry-Aware Graph Conditioningcited by 1
  16. 2026AutoDex: An Automated Real-World System for Dexterous Grasping Data Collectioncited by 1
  17. 2026Play2Perfect: What Matters in Dexterous Play Pretraining for Precise Assembly?cited by 1
  18. 2026Adaptive Vision-Language Grasping via Composable Foundation Priors and Generalizable Grasp Synthesiscited by 1
  19. 2025LensDFF: Language-enhanced Sparse Feature Distillation for Efficient Few-Shot Dexterous Manipulationcited by 0
  20. 2025DCIRNet: Depth Completion with Iterative Refinement for Dexterous Grasping of Transparent and Reflective Objectscited by 0
  21. 2025DexCanvas: Bridging Human Demonstrations and Robot Learning for Dexterous Manipulationcited by 0
  22. 2026SECOND-Grasp: Semantic Contact-guided Dexterous Graspingcited by 0
  23. 2026DexHoldem: Playing Texas Hold'em with Dexterous Embodied Systemcited by 0
  24. 2026Simulation-Driven Imitation Learning for Biosignals-Free Shared-Autonomy Prosthetic Graspingcited by 0
  25. 2026KPGrasp: Scalable Keypoint Flow Matching for Dexterous Grasp Generationcited by 0
  26. 2026UniDexTok: A Unified Dexterous Hand Tokenizer from Real Datacited by 0
  27. 2026V2P-Manip: Learning Dexterous Manipulation from Monocular Human Videoscited by 0
  28. 2026DexCompose: Reusing Dexterous Policies for Multi-Task Manipulation with a Single Handcited by 0
  29. 2026UniPart: Towards Zero-shot Language-Grounded 3D Part Segmentation for Embodied Interactioncited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2025ClutterDexGrasp: A Sim-to-Real System for General Dexterous Grasping in Cluttered Scenes
  2. 2026CADGrasp: Learning Contact and Collision Aware General Dexterous Grasping in Cluttered Scenes
  3. 2025DexGrasp Anything: Towards Universal Robotic Dexterous Grasping with Physics Awareness
  4. 2024DexGANGrasp: Dexterous Generative Adversarial Grasping Synthesis for Task-Oriented Manipulation
  5. 2024DexDiffuser: Generating Dexterous Grasps with Diffusion Models
  6. 2023GraspLDM: Generative 6-DoF Grasp Synthesis using Latent Diffusion Models
  7. 2025G-DexGrasp: Generalizable Dexterous Grasping Synthesis Via Part-Aware Prior Retrieval and Prior-Assisted Generation
  8. 2024DexGrasp-Diffusion: Diffusion-based Unified Functional Grasp Synthesis Method for Multi-Dexterous Robotic Hands