Dexterous Functional Grasping

ScaleADFG: Affordance-based Dexterous Functional Grasping via Scalable Dataset featured image
Dexterous Functional Grasping

ScaleADFG: Affordance-based Dexterous Functional Grasping via Scalable Dataset

Our work "ScaleADFG" bridges the scale gap between human and robotic hands through automated dataset synthesis and lightweight grasp generation, achieving robust and generalizable …

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Sizhe Wang
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Learning Human-Like Functional Grasping for Multifinger Hands From Few Demonstrations featured image
Dexterous Functional Grasping

Learning Human-Like Functional Grasping for Multifinger Hands From Few Demonstrations

Our work "DexFG" integrates fine-grained contact modeling and intention-conditioned learning to achieve generalizable, human-like functional grasping with diverse robot hands.

Wei Wei
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