FastGrasp: Learning-based Whole-Body Control Method for Fast Dexterous Grasping with Mobile Manipulators

arXiv:2604.12879 · cs.RO, cs.AI · Submitted 2026-04-14 · Read on arXiv

cs.RO, cs.AI

Submitted: 2026-04-14

Updated: 2026-09-27

Project page: https://taoheng-star.github.io/fastgrasp-page

Terminology

• Robustness — 7× in this paper · explained in 5 episodes
• Generalization — 6× in this paper · explained in 13 episodes
• Reinforcement Learning — 6× in this paper · explained in 4 episodes
• Sim-to-Real Transfer — 6× in this paper · explained in 2 episodes
• Point Clouds — 5× in this paper · explained in 2 episodes
• Adaptation — 3× in this paper · explained in 1 episode
• Alignment — 3× in this paper · explained in 1 episode
• Domain Randomization — 3× in this paper
• Grasp Depth Coverage — 3× in this paper
• Ablation — 2× in this paper · explained in 1 episode
• Ablation study — 2× in this paper · explained in 1 episode
• Adaptability — 2× in this paper · explained in 1 episode
• Consistency — 2× in this paper · explained in 3 episodes
• Core — 2× in this paper · explained in 2 episodes
• Grasp Width Coverage — 2× in this paper
• IEEE International Conference on Robotics and Automation — 2× in this paper
• Low-Pass Filter — 2× in this paper
• Point Cloud Data — 2× in this paper · explained in 2 episodes
• Reward Function — 2× in this paper · explained in 2 episodes
• Sim-to-Real Gap — 2× in this paper · explained in 6 episodes
• Tactile Adaptation — 2× in this paper
• Benchmark — 1× in this paper · explained in 2 episodes
• Generative Model — 1× in this paper · explained in 2 episodes
• Generative Models — 1× in this paper · explained in 2 episodes
• Latent Space — 1× in this paper · explained in 7 episodes
• Multimodal Learning — 1× in this paper · explained in 2 episodes
• Proximal Policy Optimization (PPO) — 1× in this paper · explained in 4 episodes
• Theoretical Guarantees — 1× in this paper · explained in 2 episodes
• Two-Stage Framework — 1× in this paper · explained in 2 episodes

Sources

• $\mathcal{D(R,O)}$ Grasp: A Unified Representation of Robot and Object Interaction for Cross-Embodiment Dexterous Grasping
• RobustDexGrasp: Robust Dexterous Grasping of General Objects
• RealDex: Towards Human-like Grasping for Robotic Dexterous Hand
• 3D Diffusion Policy: Generalizable Visuomotor Policy Learning via Simple 3D Representations
• DexH2R: A Benchmark for Dynamic Dexterous Grasping in Human-to-Robot Handover
• Learning Dexterous Manipulation from Exemplar Object Trajectories and Pre-Grasps
• EvolvingGrasp: Evolutionary Grasp Generation via Efficient Preference Alignment
• Catch It! Learning to Catch in Flight with Mobile Dexterous Hands
• Proximal Policy Optimization Algorithms

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