Steer2Grasp: Inference-Time Embodiment-Aware Steering for Diverse Physically Feasible Grasp Diffusion

arXiv:2609.33546 · cs.RO · Submitted 2026-09-27 · Read on arXiv

cs.RO

Submitted: 2026-09-27

Updated: 2026-09-27

Terminology

• Steering — 24× in this paper · explained in 2 episodes
• Diffusion Model — 15× in this paper · explained in 8 episodes
• Diffusion Models — 9× in this paper · explained in 6 episodes
• Alignment — 8× in this paper · explained in 1 episode
• Ablation — 3× in this paper · explained in 1 episode
• Sample Efficiency — 3× in this paper · explained in 4 episodes
• Aggregation — 2× in this paper · explained in 1 episode
• Generalization — 2× in this paper · explained in 13 episodes
• Inference-Time Steering — 2× in this paper · explained in 2 episodes
• Transformer — 2× in this paper · explained in 2 episodes
• Ablation study — 1× in this paper · explained in 1 episode
• Core — 1× in this paper · explained in 2 episodes
• Cross-Embodiment Transfer — 1× in this paper · explained in 2 episodes
• Diffusion Processes — 1× in this paper · explained in 2 episodes
• Distribution Matching — 1× in this paper · explained in 2 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• Iterative Refinement — 1× in this paper · explained in 3 episodes
• Langevin Dynamics — 1× in this paper · explained in 2 episodes
• Point Clouds — 1× in this paper · explained in 2 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Score Function — 1× in this paper · explained in 4 episodes
• Selection Bias — 1× in this paper · explained in 4 episodes
• Sim-to-Real Transfer — 1× in this paper · explained in 2 episodes
• Through Feynman-Kac — 1× in this paper
• Training-Free Framework — 1× in this paper · explained in 2 episodes

Sources

• Robotic Grasping from Classical to Modern: A Survey
• DG16M: A Large-Scale Dataset for Dual-Arm Grasping with Force-Optimized Grasps
• DAGDiff: Guiding Dual-Arm Grasp Diffusion to Stable and Collision-Free Grasps
• BiGraspFormer: End-to-End Bimanual Grasp Transformer
• EmbodiSteer: Steering Embodiment-Agnostic Visuomotor Policies with Joint-Space Guidance for Zero-Shot Cross-Embodiment Deployment
• Grounding Generative Policies in Physics: Optimization-Guided Diffusion for Robot Control
• Diffusion Models Beat GANs on Image Synthesis
• Classifier-Free Diffusion Guidance
• Planning with Diffusion for Flexible Behavior Synthesis
• Reward-Guided Iterative Refinement in Diffusion Models at Test-Time with Applications to Protein and DNA Design
• A General Framework for Inference-time Scaling and Steering of Diffusion Models
• Diffusion Predictive Control with Constraints
• Practical and Asymptotically Exact Conditional Sampling in Diffusion Models
• Contrastive Distribution Matching for Amortized Sequential Monte Carlo in Discrete Diffusion
• cuRoboV2: Dynamics-Aware Motion Generation with Depth-Fused Distance Fields for High-DoF Robots
• ACRONYM: A Large-Scale Grasp Dataset Based on Simulation

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