# FunGrasp: Functional Grasping for Diverse Dexterous Hands

arXiv: https://arxiv.org/abs/2411.16755 · HTML: https://mlsanity.com/paper/2411.16755/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 10 of its 49 references that are in the map.
- First posted on arXiv 24 Nov 2024.

## Builds on (most cited first, 10 of 10)

- [Proximal Policy Optimization Algorithms](https://mlsanity.com/paper/1707.06347/) (2017)
- [Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrations](https://mlsanity.com/paper/1709.10087/) (2017)
- [The CMA Evolution Strategy: A Tutorial](https://mlsanity.com/paper/1604.00772/) (2016)
- [Open-TeleVision: Teleoperation with Immersive Active Visual Feedback](https://mlsanity.com/paper/2407.01512/) (2024)
- [Bunny-VisionPro: Real-Time Bimanual Dexterous Teleoperation for Imitation Learning](https://mlsanity.com/paper/2407.03162/) (2024)
- [Learning to Manipulate Anywhere: A Visual Generalizable Framework For Reinforcement Learning](https://mlsanity.com/paper/2407.15815/) (2024)
- [Cross-Embodiment Dexterous Grasping with Reinforcement Learning](https://mlsanity.com/paper/2410.02479/) (2024)
- [DexTransfer: Real World Multi-fingered Dexterous Grasping with Minimal Human Demonstrations](https://mlsanity.com/paper/2209.14284/) (2022)
- [Geometry Matching for Multi-Embodiment Grasping](https://mlsanity.com/paper/2312.03864/) (2023)
- [Multi-fingered Dynamic Grasping for Unknown Objects](https://mlsanity.com/paper/2310.17923/) (2023)

## Abstract (arXiv)

Functional grasping is essential for humans to perform specific tasks, such as grasping scissors by the finger holes to cut materials or by the blade to safely hand them over. Enabling dexterous robot hands with functional grasping capabilities is crucial for their deployment to accomplish diverse real-world tasks. Recent research in dexterous grasping, however, often focuses on power grasps while overlooking task- and object-specific functional grasping poses. In this paper, we introduce FunGrasp, a system that enables functional dexterous grasping across various robot hands and performs one-shot transfer to unseen objects. Given a single RGBD image of functional human grasping, our system estimates the hand pose and transfers it to different robotic hands via a human-to-robot (H2R) grasp retargeting module. Guided by the retargeted grasping poses, a policy is trained through reinforcement learning in simulation for dynamic grasping control. To achieve robust sim-to-real transfer, we employ several techniques including privileged learning, system identification, domain randomization, and gravity compensation. In our experiments, we demonstrate that our system enables diverse functional grasping of unseen objects using single RGBD images, and can be successfully deployed across various dexterous robot hands. The significance of the components is validated through comprehensive ablation studies. Project page: https://hly-123.github.io/FunGrasp/ .