DiffMorphGrasp: A Diffusion Framework Conditioned on Hand Mo
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Source roundup from published reports. Claims below are attributed to their publishers, not independently verified. arXiv Robotics — research abstracts: DiffMorphGrasp: A Diffusion Framework Conditioned on Hand Morphology for Cross-Embodiment Grasp Generation. This paper proposes DiffMorphGrasp, the first diffusion-based framework that incorporates hand morphology information into the generative process for cross-embodiment dexterous grasping. The approach maps grasps from div…
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- arXiv Robotics — research abstractsDiffMorphGrasp: A Diffusion Framework Conditioned on Hand Morphology for Cross-Embodiment Grasp Generation
This paper proposes DiffMorphGrasp, the first diffusion-based framework that incorporates hand morphology information into the generative process for cross-embodiment dexterous grasping. The approach maps grasps from diverse robotic hands into a reference hand pose, and generates grasps conditioned on structured representations of hand kinematics and object geometry. The method is evaluated on a new benchmark, showing strong zero-shot generalization to unseen hand morphologies.
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