DEAL-Grasp: Decoupled Alignment Representation for Geometry-Aware Dexterous Grasp Generation

arXiv:2609.28131 · cs.RO, cs.GR · Submitted 2026-09-23 · Read on arXiv

cs.RO, cs.GR

Submitted: 2026-09-23

Updated: 2026-09-23

Code: https://github.com/haosulab/MPlib

Project page: https://wmtlab.github.io/DEAL-Grasp

Terminology

• Alignment — 42× in this paper · explained in 1 episode
• Flow Matching — 14× in this paper · explained in 7 episodes
• Regularization — 11× in this paper · explained in 3 episodes
• Forward Kinematics — 8× in this paper
• Transformer — 6× in this paper · explained in 2 episodes
• Consistency — 5× in this paper · explained in 3 episodes
• Ablation — 4× in this paper · explained in 1 episode
• Continuous Flow Matching — 4× in this paper
• Iterative Velocity Refinement Decoder — 4× in this paper
• Physical Constraints — 4× in this paper · explained in 7 episodes
• Adaptive Weighting — 3× in this paper · explained in 1 episode
• Computational overhead — 3× in this paper · explained in 2 episodes
• Conference on Computer Vision and Pattern Recognition — 3× in this paper
• Core — 3× in this paper · explained in 2 episodes
• Degeneracy — 3× in this paper · explained in 3 episodes
• Generalization — 3× in this paper · explained in 13 episodes
• Iterative Refinement — 3× in this paper · explained in 3 episodes
• Point Clouds — 3× in this paper · explained in 2 episodes
• Time-Adaptive Weighting — 3× in this paper
• Abstraction — 2× in this paper · explained in 1 episode
• Benchmark — 2× in this paper · explained in 2 episodes
• CVF International Conference on Computer Vision — 2× in this paper
• Embodied AI — 2× in this paper · explained in 2 episodes
• Generative Model — 2× in this paper · explained in 2 episodes
• Generative Modeling — 2× in this paper · explained in 3 episodes
• International Conference on Robotics and Automation — 2× in this paper
• Principal Component Analysis — 2× in this paper
• Robustness — 2× in this paper · explained in 5 episodes
• Ablation study — 1× in this paper · explained in 1 episode
• Action Space — 1× in this paper · explained in 1 episode
• Adam — 1× in this paper · explained in 2 episodes
• AdamW Optimizer — 1× in this paper · explained in 1 episode
• Diffusion Model — 1× in this paper · explained in 8 episodes
• Diffusion Models — 1× in this paper · explained in 6 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Feature Extraction — 1× in this paper · explained in 2 episodes
• Singular Value Decomposition — 1× in this paper
• Singular Value Decomposition (SVD) — 1× in this paper · explained in 2 episodes
• Structural Integrity — 1× in this paper · explained in 3 episodes

Sources

• The Developments and Challenges towards Dexterous and Embodied Robotic Manipulation: A Survey
• Flow Matching for Generative Modeling
• RealDex: Towards Human-like Grasping for Robotic Dexterous Hand
• Decoupled Weight Decay Regularization
• Implicit-PDF: Non-Parametric Representation of Probability Distributions on the Rotation Manifold
• ManiSkill3: GPU Parallelized Robotics Simulation and Rendering for Generalizable Embodied AI
• $\mathcal{D(R,O)}$ Grasp: A Unified Representation of Robot and Object Interaction for Cross-Embodiment Dexterous Grasping
• Learning Diverse and Physically Feasible Dexterous Grasps with Generative Model and Bilevel Optimization
• Lightning Grasp: High Performance Procedural Grasp Synthesis with Contact Fields

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies
• Fine-tuning is Not Enough: A Parallel Framework for Collaborative Imitation and Reinforcement Learning in End-to-end Autonomous Driving