mlsanityData to 14 Oct 2026

GAGrasp: Geometric Algebra Diffusion for Dexterous Grasping

arXiv 2503.04123 ↗First posted 6 Mar 2025cs.RO cs.CV cs.LGcited by 8

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Abstract (arXiv)

We propose GAGrasp, a novel framework for dexterous grasp generation that leverages geometric algebra representations to enforce equivariance to SE(3) transformations. By encoding the SE(3) symmetry constraint directly into the architecture, our method improves data and parameter efficiency while enabling robust grasp generation across diverse object poses. Additionally, we incorporate a differentiable physics-informed refinement layer, which ensures that generated grasps are physically plausible and stable. Extensive experiments demonstrate the model's superior performance in generalization, stability, and adaptability compared to existing methods. Additional details at https://gagrasp.github.io/

Key facts. Cited by 8 papers in the map (data through 14 Oct 2026). Builds on 45 of its 57 references that are in the map. First posted on arXiv 6 Mar 2025.

Builds on

45 of 57 references.

References · 45

  1. 2017Attention Is All You Needcited by 60,361
  2. 2020Denoising Diffusion Probabilistic Modelscited by 21,076
  3. 2021Diffusion Models Beat GANs on Image Synthesiscited by 8,255
  4. 2016Gaussian Error Linear Units (GELUs)cited by 3,502
  5. 2023Diffusion Policy: Visuomotor Policy Learning via Action Diffusioncited by 2,838
  6. 2020Point Transformercited by 1,470
  7. 2019Normalizing Flows for Probabilistic Modeling and Inferencecited by 1,323
  8. 2018On the Continuity of Rotation Representations in Neural Networkscited by 1,214
  9. 2022Planning with Diffusion for Flexible Behavior Synthesiscited by 1,061
  10. 2022Equivariant Diffusion for Molecule Generation in 3Dcited by 677
  11. 2018Spherical CNNscited by 456
  12. 2021Vector Neurons: A General Framework for SO(3)-Equivariant Networkscited by 305
33 more
  1. 2018On the Generalization of Equivariance and Convolution in Neural Networks to the Action of Compact Groupscited by 300
  2. 2020Equivariant Flows: Exact Likelihood Generative Learning for Symmetric Densitiescited by 250
  3. 2017Learning SO(3) Equivariant Representations with Spherical CNNscited by 248
  4. 2023NoMaD: Goal Masked Diffusion Policies for Navigation and Explorationcited by 248
  5. 20196-DOF GraspNet: Variational Grasp Generation for Object Manipulationcited by 242
  6. 2023Diffusion-based Generation, Optimization, and Planning in 3D Scenescited by 239
  7. 2018A General Theory of Equivariant CNNs on Homogeneous Spacescited by 228
  8. 2023Motion Planning Diffusion: Learning and Planning of Robot Motions with Diffusion Modelscited by 161
  9. 2022SE(3)-DiffusionFields: Learning smooth cost functions for joint grasp and motion optimization through diffusioncited by 127
  10. 2018GPU-Accelerated Robotic Simulation for Distributed Reinforcement Learningcited by 90
  11. 2019ContactGrasp: Functional Multi-finger Grasp Synthesis from Contactcited by 87
  12. 2017Polar Transformer Networkscited by 81
  13. 2021Synthesizing Diverse and Physically Stable Grasps with Arbitrary Hand Structures using Differentiable Force Closure Estimatorcited by 71
  14. 2021DiSECt: A Differentiable Simulation Engine for Autonomous Robotic Cuttingcited by 64
  15. 2022GenDexGrasp: Generalizable Dexterous Graspingcited by 56
  16. 2023Clifford Group Equivariant Neural Networkscited by 55
  17. 2023Diffusion-EDFs: Bi-equivariant Denoising Generative Modeling on SE(3) for Visual Robotic Manipulationcited by 52
  18. 2022Grasp'D: Differentiable Contact-rich Grasp Synthesis for Multi-fingered Handscited by 51
  19. 2023Geometric Algebra Transformercited by 48
  20. 2024DexDiffuser: Generating Dexterous Grasps with Diffusion Modelscited by 48
  21. 2020Deep Differentiable Grasp Planner for High-DOF Gripperscited by 39
  22. 2023Geometric Clifford Algebra Networkscited by 38
  23. 2023EDGI: Equivariant Diffusion for Planning with Embodied Agentscited by 36
  24. 2023Fast-Grasp'D: Dexterous Multi-finger Grasp Generation Through Differentiable Simulationcited by 35
  25. 2023UGG: Unified Generative Graspingcited by 30
  26. 2021DDGC: Generative Deep Dexterous Grasping in Cluttercited by 29
  27. 2021Understanding the Generalization Benefit of Model Invariance from a Data Perspectivecited by 22
  28. 2023DiMSam: Diffusion Models as Samplers for Task and Motion Planning under Partial Observabilitycited by 22
  29. 2022Learning Diverse and Physically Feasible Dexterous Grasps with Generative Model and Bilevel Optimizationcited by 21
  30. 2020Multi-FinGAN: Generative Coarse-To-Fine Sampling of Multi-Finger Graspscited by 20
  31. 2023ReorientDiff: Diffusion Model based Reorientation for Object Manipulationcited by 19
  32. 2023EFEM: Equivariant Neural Field Expectation Maximization for 3D Object Segmentation Without Scene Supervisioncited by 18
  33. 2021Equivariant Finite Normalizing Flowscited by 11

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2025: 5; 2026: 3.

8 papers.

  1. 2025Diffusion Models for Robotic Manipulation: A Surveycited by 41
  2. 2025Hybrid Diffusion Policies with Projective Geometric Algebra for Efficient Robot Manipulation Learningcited by 3
  3. 2025Grasp2Grasp: Vision-Based Dexterous Grasp Translation via Schr"odinger Bridgescited by 2
  4. 2025Discovering Phase Space Structure in Learned Hamiltonian Systemscited by 2
  5. 2026Neural Field Thermal Tomography: A Differentiable Physics Framework for Non-Destructive Evaluationcited by 2
  6. 2026EquiDexFlow: Contact-Grounded SE(3)-Equivariant Dexterous Grasp Generative Flowscited by 1
  7. 2025Local-Canonicalization Equivariant Graph Neural Networks for Sample-Efficient and Generalizable Swarm Robot Controlcited by 0
  8. 2026NDPP-Grasp: Non-Differentiable Physical Plausibility Constraint-Guided Task-Oriented Dexterous Grasp Generationcited by 0