NDPP-Grasp
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Related Articles from SNS
NDPP-Grasp: Non-Differentiable Physical Plausibility Constraint-Guided Task-Oriented Dexterous Grasp Generation
Announce Type: new Abstract: Task-oriented dexterous grasp generation aims to produce dexterous grasp poses that are both physically plausible and functionally suitable for specified manipulation tasks. Existing diffusion-based methods often address these two requirements in a decoupled manner: they first train a grasp diffusion model for task alignment and then rely on post-generation refinement to improve physical plausibility. However, this after-the-fact correction strategy applies...