DiffMorphGrasp: A Diffusion Framework Conditioned on Hand Morphology for Cross-Embodiment Grasp Generation

arXiv:2602.00915 · cs.RO · Submitted 2026-01-31 · Read on arXiv

cs.RO

Submitted: 2026-01-31

Updated: 2026-10-08

Terminology

• Generalization — 27× in this paper · explained in 13 episodes
• Diffusion Model — 25× in this paper · explained in 8 episodes
• Transformer — 13× in this paper · explained in 2 episodes
• Ablation — 10× in this paper · explained in 1 episode
• Loss Function — 10× in this paper · explained in 2 episodes
• Zero-Shot Generalization — 9× in this paper · explained in 5 episodes
• Benchmark — 6× in this paper · explained in 2 episodes
• Ablation study — 5× in this paper · explained in 2 episodes
• Diffusion Models — 5× in this paper · explained in 6 episodes
• Ablation Studies — 3× in this paper · explained in 1 episode
• Robustness — 3× in this paper · explained in 5 episodes
• Adam — 2× in this paper · explained in 2 episodes
• Physical Constraints — 2× in this paper · explained in 7 episodes
• Point Clouds — 2× in this paper · explained in 2 episodes
• Representation Learning — 2× in this paper · explained in 2 episodes
• Self-Penetration Repulsion Force — 2× in this paper
• Adaptability — 1× in this paper · explained in 1 episode
• Adjacency Matrix — 1× in this paper · explained in 1 episode
• Attention Mechanism — 1× in this paper · explained in 3 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• External-Penetration Repulsion Force — 1× in this paper
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• GNNs — 1× in this paper · explained in 2 episodes
• IEEE International Conference on Robotics and Automation — 1× in this paper
• Modularity — 1× in this paper · explained in 9 episodes
• Redundancy — 1× in this paper · explained in 2 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Surface Pulling Force — 1× in this paper

Sources

• An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale
• Adam: A Method for Stochastic Optimization
• Multi-GraspLLM: A Multimodal LLM for Multi-Hand Semantic Guided Grasp Generation
• CEDex: Cross-Embodiment Dexterous Grasp Generation at Scale from Human-like Contact Representations
• MachaGrasp: Morphology-Aware Cross-Embodiment Dexterous Hand Articulation Generation for Grasping
• DexGrasp-Diffusion: Diffusion-based Unified Functional Grasp Synthesis Method for Multi-Dexterous Robotic Hands

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