FSAG: Enhancing Human-to-Dexterous-Hand Finger-Specific Affordance Grounding via Diffusion Models

Description

Dexterous grasp synthesis must jointly satisfy functional intent and physical feasibility, yet existing pipelines often decouple semantic grounding from refinement, yielding unstable or non-functional contacts under object and pose variations. This challenge is exacerbated by the high dimensionality and kinematic diversity of multi-fingered hands, which makes many methods rely on large, hardware-specific grasp datasets collected in simulation or through costly real-world trials. We propose a dat

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