OmniDex: Scaling Dexterous Hand Grasping to Diverse Cluttered Scenes

arXiv:2610.11194 · cs.RO, cs.CV · Submitted 2026-10-08 · Read on arXiv

cs.RO, cs.CV

Submitted: 2026-10-08

Updated: 2026-10-08

Project page: https://aceroboticsdex.github.io/OmniDex

Terminology

• Benchmark — 47× in this paper · explained in 2 episodes
• Ablation — 8× in this paper · explained in 1 episode
• Generalization — 8× in this paper · explained in 13 episodes
• Physical Constraints — 5× in this paper · explained in 7 episodes
• Soft Winner-Takes-All — 5× in this paper
• Fidelity — 4× in this paper · explained in 2 episodes
• Robustness — 4× in this paper · explained in 5 episodes
• Affordance — 3× in this paper · explained in 1 episode
• Core — 3× in this paper · explained in 2 episodes
• Generative Model — 3× in this paper · explained in 2 episodes
• Generative Models — 3× in this paper · explained in 2 episodes
• Ablation study — 2× in this paper · explained in 1 episode
• Computational overhead — 2× in this paper · explained in 2 episodes
• Consistency — 2× in this paper · explained in 3 episodes
• Embodied AI — 2× in this paper · explained in 2 episodes
• Fine-Tuning — 2× in this paper · explained in 5 episodes
• Success Rate — 2× in this paper
• Transformer — 2× in this paper · explained in 2 episodes
• alpha — 2× in this paper · explained in 1 episode
• Ablation Studies — 1× in this paper · explained in 1 episode
• Accuracy — 1× in this paper · explained in 1 episode
• Action Space — 1× in this paper · explained in 1 episode
• AdamW Optimizer — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Artificial Intelligence (AI) — 1× in this paper · explained in 2 episodes
• Calibration — 1× in this paper · explained in 7 episodes
• Collision-Free Rate — 1× in this paper
• Computational Tractability — 1× in this paper · explained in 2 episodes
• Cosine Similarity — 1× in this paper · explained in 3 episodes
• Decode — 1× in this paper · explained in 2 episodes
• Diffusion Model — 1× in this paper · explained in 8 episodes
• Embeddings — 1× in this paper · explained in 2 episodes
• Entanglement — 1× in this paper · explained in 3 episodes
• Point Clouds — 1× in this paper · explained in 2 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Signed Distance Field — 1× in this paper
• Sim-to-Real Gap — 1× in this paper · explained in 6 episodes
• Transferability — 1× in this paper · explained in 4 episodes
• Two-Stage Framework — 1× in this paper · explained in 2 episodes
• Zero-Shot Transfer — 1× in this paper · explained in 4 episodes

Sources

• ShapeNet: An Information-Rich 3D Model Repository
• Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning
• Decoupled Weight Decay Regularization

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