Grasping a Handful: Sequential Multi-Object Dexterous Grasp Generation
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Abstract (arXiv)
We introduce the sequential multi-object robotic grasp sampling algorithm SeqGrasp that can robustly synthesize stable grasps on diverse objects using the robotic hand's partial Degrees of Freedom (DoF). We use SeqGrasp to construct the large-scale Allegro Hand sequential grasping dataset SeqDataset and use it for training the diffusion-based sequential grasp generator SeqDiffuser. We experimentally evaluate SeqGrasp and SeqDiffuser against the state-of-the-art non-sequential multi-object grasp generation method MultiGrasp in simulation and on a real robot. The experimental results demonstrate that SeqGrasp and SeqDiffuser reach an 8.71%-43.33% higher grasp success rate than MultiGrasp. Furthermore, SeqDiffuser is approximately 1000 times faster at generating grasps than SeqGrasp and MultiGrasp. Project page: https://yulihn.github.io/SeqGrasp/.
Key facts. Cited by 3 papers in the map (data through 14 Oct 2026). Builds on 22 of its 43 references that are in the map. First posted on arXiv 28 Mar 2025.
Builds on
22 of 43 references.
References · 22
- 2018On the Continuity of Rotation Representations in Neural Networkscited by 1,214
- 2021Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learningcited by 998
- 2022DexGraspNet: A Large-Scale Robotic Dexterous Grasp Dataset for General Objects Based on Simulationcited by 137
- 2023UniDexGrasp: Universal Robotic Dexterous Grasping via Learning Diverse Proposal Generation and Goal-Conditioned Policycited by 124
- 2013Data-Driven Grasp Synthesis - A Surveycited by 106
- 2019Efficient Learning on Point Clouds with Basis Point Setscited by 103
- 2022Deep Learning Approaches to Grasp Synthesis: A Reviewcited by 72
- 2021Synthesizing Diverse and Physically Stable Grasps with Arbitrary Hand Structures using Differentiable Force Closure Estimatorcited by 71
- 2024GraspXL: Generating Grasping Motions for Diverse Objects at Scalecited by 60
- 2022GenDexGrasp: Generalizable Dexterous Graspingcited by 56
- 2024DexDiffuser: Generating Dexterous Grasps with Diffusion Modelscited by 48
- 2024D(R,O) Grasp: A Unified Representation of Robot and Object Interaction for Cross-Embodiment Dexterous Graspingcited by 42
10 more
- 2024RealDex: Towards Human-like Grasping for Robotic Dexterous Handcited by 34
- 2019Learning Task-Oriented Grasping from Human Activity Datasetscited by 32
- 2023UGG: Unified Generative Graspingcited by 30
- 2021DDGC: Generative Deep Dexterous Grasping in Cluttercited by 29
- 2024BODex: Scalable and Efficient Robotic Dexterous Grasp Synthesis Using Bilevel Optimizationcited by 20
- 2023Grasp Multiple Objects with One Handcited by 18
- 2023Exploiting Kinematic Redundancy for Robotic Grasping of Multiple Objectscited by 7
- 2022Multi-Object Grasping -- Types and Taxonomycited by 5
- 2022Multi-Object Grasping in the Planecited by 5
- 2025Sequential Multi-Object Grasping with One Dexterous Handcited by 4
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Citing papers per year: 2025: 1; 2026: 2.
3 papers.