Function beyond Form: Functional Correspondence for Cross-Embodiment Dexterous Grasp Generation

arXiv:2609.39006 · cs.RO · Submitted 2026-09-30 · Read on arXiv

cs.RO

Submitted: 2026-09-30

Updated: 2026-09-30

Terminology

• Alignment — 29× in this paper · explained in 1 episode
• Fine-Tuning — 15× in this paper · explained in 5 episodes
• Canonical Frame Alignment — 7× in this paper
• Diffusion Model — 5× in this paper · explained in 8 episodes
• Generalization — 4× in this paper · explained in 13 episodes
• Cross-Embodiment Transfer — 3× in this paper · explained in 2 episodes
• Transformer — 3× in this paper · explained in 2 episodes
• Ablation — 2× in this paper · explained in 1 episode
• Benchmark — 2× in this paper · explained in 2 episodes
• Conference on Computer Vision and Pattern Recognition — 2× in this paper
• International Conference on Robotics and Automation — 2× in this paper
• Robustness — 2× in this paper · explained in 5 episodes
• Ablation Studies — 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
• Diffusion Process — 1× in this paper · explained in 2 episodes
• Effect of Functional Part Alignment — 1× in this paper
• International Conference on Learning Representations — 1× in this paper
• Reinforcement Learning — 1× in this paper · explained in 4 episodes

Sources

• GraspGraphNet: Graph-Structured Multi-Embodiment Dexterous Grasp Generation
• CEDex: Cross-Embodiment Dexterous Grasp Generation at Scale from Human-like Contact Representations
• T(R,O) Grasp: Efficient Graph Diffusion of Robot-Object Spatial Transformation for Cross-Embodiment Dexterous Grasping
• MANGO-Grasp: Mahalanobis Fields over Geometry-Oriented 3D Gaussians for Cross-Embodiment Dexterous Grasping
• GET-Zero: Graph Embodiment Transformer for Zero-shot Embodiment Generalization
• UniMorphGrasp: Diffusion Model with Morphology-Awareness for Cross-Embodiment Dexterous Grasp Generation
• MachaGrasp: Morphology-Aware Cross-Embodiment Dexterous Hand Articulation Generation for Grasping
• DexGrasp-Zero: A Morphology-Aligned Policy for Zero-Shot Cross-Embodiment Dexterous Grasping
• PyRoki: A Modular Toolkit for Robot Kinematic Optimization

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