mlsanityData to 14 Oct 2026

DexGrasp Anything: Towards Universal Robotic Dexterous Grasping with Physics Awareness

arXiv 2503.08257 ↗First posted 11 Mar 2025cs.CV cs.AI cs.ROcited by 26

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Abstract (arXiv)

A dexterous hand capable of grasping any object is essential for the development of general-purpose embodied intelligent robots. However, due to the high degree of freedom in dexterous hands and the vast diversity of objects, generating high-quality, usable grasping poses in a robust manner is a significant challenge. In this paper, we introduce DexGrasp Anything, a method that effectively integrates physical constraints into both the training and sampling phases of a diffusion-based generative model, achieving state-of-the-art performance across nearly all open datasets. Additionally, we present a new dexterous grasping dataset containing over 3.4 million diverse grasping poses for more than 15k different objects, demonstrating its potential to advance universal dexterous grasping. The code of our method and our dataset will be publicly released soon.

Key facts. Cited by 26 papers in the map (data through 14 Oct 2026). Builds on 44 of its 53 references that are in the map. First posted on arXiv 11 Mar 2025.

Builds on

44 of 53 references.

References · 44

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  10. 2024CLAY: A Controllable Large-scale Generative Model for Creating High-quality 3D Assetscited by 455
  11. 2020GRAB: A Dataset of Whole-Body Human Grasping of Objectscited by 405
  12. 2019Learning joint reconstruction of hands and manipulated objectscited by 378
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  15. 2021Hand-Object Contact Consistency Reasoning for Human Grasps Generationcited by 160
  16. 2023AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation Systemcited by 152
  17. 2022DexGraspNet: A Large-Scale Robotic Dexterous Grasp Dataset for General Objects Based on Simulationcited by 137
  18. 2023UniDexGrasp: Universal Robotic Dexterous Grasping via Learning Diverse Proposal Generation and Goal-Conditioned Policycited by 124
  19. 2022VideoDex: Learning Dexterity from Internet Videoscited by 106
  20. 2022Robotic Telekinesis: Learning a Robotic Hand Imitator by Watching Humans on Youtubecited by 82
  21. 2021Synthesizing Diverse and Physically Stable Grasps with Arbitrary Hand Structures using Differentiable Force Closure Estimatorcited by 71
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  23. 2022Approximate Convex Decomposition for 3D Meshes with Collision-Aware Concavity and Tree Searchcited by 67
  24. 2024GraspXL: Generating Grasping Motions for Diverse Objects at Scalecited by 60
  25. 2024DexDiffuser: Generating Dexterous Grasps with Diffusion Modelscited by 48
  26. 2024Grasp as You Say: Language-guided Dexterous Grasp Generationcited by 40
  27. 2020Deep Differentiable Grasp Planner for High-DOF Gripperscited by 39
  28. 2024RealDex: Towards Human-like Grasping for Robotic Dexterous Handcited by 34
  29. 2023UGG: Unified Generative Graspingcited by 30
  30. 2021DDGC: Generative Deep Dexterous Grasping in Cluttercited by 29
  31. 2024Dexterous Grasp Transformercited by 18
  32. 2024DexGrasp-Diffusion: Diffusion-based Unified Functional Grasp Synthesis Method for Multi-Dexterous Robotic Handscited by 14

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2025: 5; 2026: 21.

26 papers.

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  1. 2025RoboOS: A Hierarchical Embodied Framework for Cross-Embodiment and Multi-Agent Collaborationcited by 28
  2. 2025OpenHOI: Open-World Hand-Object Interaction Synthesis with Multimodal Large Language Modelcited by 17
  3. 2026LOME: Learning Human-Object Manipulation with Action-Conditioned Egocentric World Modelcited by 13
  4. 2025CEDex: Cross-Embodiment Dexterous Grasp Generation at Scale from Human-like Contact Representationscited by 9
  5. 2026Dexora: Open-source VLA for High-DoF Bimanual Dexteritycited by 9
  6. 2026HVG-3D: Bridging Real and Simulation Domains for 3D-Conditional Hand-Object Interaction Video Synthesiscited by 7
  7. 2025EvolvingGrasp: Evolutionary Grasp Generation via Efficient Preference Alignmentcited by 6
  8. 2026Human Universal Graspingcited by 5
  9. 2026DextER: Language-driven Dexterous Grasp Generation with Embodied Reasoningcited by 4
  10. 2026UniHM: Unified Dexterous Hand Manipulation with Vision Language Modelcited by 3
  11. 2026PAM: A Pose-Appearance-Motion Engine for Sim-to-Real HOI Video Generationcited by 3
  12. 2025OmniDexVLG: Learning Dexterous Grasp Generation from Vision Language Model-Guided Grasp Semantics, Taxonomy and Functional Affordancecited by 2
14 more
  1. 2026UniMorphGrasp: Diffusion Model with Morphology-Awareness for Cross-Embodiment Dexterous Grasp Generationcited by 2
  2. 2026EFF-Grasp: Energy-Field Flow Matching for Physics-Aware Dexterous Grasp Generationcited by 1
  3. 2026THOM: Generating Physically Plausible Hand-Object Meshes From Textcited by 1
  4. 2026HO-Flow: Generalizable Hand-Object Interaction Generation with Latent Flow Matchingcited by 1
  5. 2026GraspFoM: Towards Reconstruction-Driven Robotic Grasping with 3D Foundation Priorscited by 1
  6. 2026FastGrasp: Learning-based Whole-Body Control Method for Fast Dexterous Grasping with Mobile Manipulatorscited by 0
  7. 2026SECOND-Grasp: Semantic Contact-guided Dexterous Graspingcited by 0
  8. 2026NDPP-Grasp: Non-Differentiable Physical Plausibility Constraint-Guided Task-Oriented Dexterous Grasp Generationcited by 0
  9. 2026KPGrasp: Scalable Keypoint Flow Matching for Dexterous Grasp Generationcited by 0
  10. 2026PhotoHOI: Synthesizing 3D Hand-Object Interactions from a Single RGB Photographcited by 0
  11. 2026MANGO-Grasp: Mahalanobis Fields over Geometry-Oriented 3D Gaussians for Cross-Embodiment Dexterous Graspingcited by 0
  12. 2026GOAG: Generative and Object-Agnostic Grasp Planner for Dexterous Robotic Manipulationcited by 0
  13. 2026CoToGrasp: Contact-Topology-Conditioned Dexterous Grasp Synthesis via Canonical Workspace Learningcited by 0
  14. 2026StableGrasp: Reconstructing Physically Stable Human Hand Grasps from Single Imagescited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2025DemoGrasp: Universal Dexterous Grasping from a Single Demonstration
  2. 2024DexGraspNet 2.0: Learning Generative Dexterous Grasping in Large-scale Synthetic Cluttered Scenes
  3. 2024FunGrasp: Functional Grasping for Diverse Dexterous Hands
  4. 2025G-DexGrasp: Generalizable Dexterous Grasping Synthesis Via Part-Aware Prior Retrieval and Prior-Assisted Generation
  5. 2025DexGraspVLA: A Vision-Language-Action Framework Towards General Dexterous Grasping
  6. 2026CADGrasp: Learning Contact and Collision Aware General Dexterous Grasping in Cluttered Scenes
  7. 2025GES-UniGrasp: A Two-Stage Dexterous Grasping Strategy With Geometry-Based Expert Selection ↗
  8. 2025DexVLG: Dexterous Vision-Language-Grasp Model at Scale