← Back to Benchmarks
simmediumgraspingmetric · varies
UniMorphGrasp: Diffusion Model with Morphology-Awareness for Cross-Embodiment Dexterous Grasp Generation
Description
Cross-embodiment dexterous grasping aims to generate stable and diverse grasps for robotic hands with heterogeneous kinematic structures. Existing methods are often tailored to specific hand designs and fail to generalize to unseen hand morphologies outside the training distribution. To address these limitations, we propose \textbf{UniMorphGrasp}, a diffusion-based framework that incorporates hand morphological information into the grasp generation process for unified cross-embodiment grasp synt