{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/gendexgrasp-generalizable-dexterous-grasping","title":"GenDexGrasp: Generalizable Dexterous Grasping","arxiv_id":"2210.00722","date":"2022-10-03","proceeding":null,"authors":["Puhao Li","Tengyu Liu","Yuyang Li","Yiran Geng","Yixin Zhu","Yaodong Yang","Siyuan Huang"],"abstract":"Generating dexterous grasping has been a long-standing and challenging robotic task. Despite recent progress, existing methods primarily suffer from two issues. First, most prior arts focus on a specific type of robot hand, lacking the generalizable capability of handling unseen ones. Second, prior arts oftentimes fail to rapidly generate diverse grasps with a high success rate. To jointly tackle these challenges with a unified solution, we propose GenDexGrasp, a novel hand-agnostic grasping algorithm for generalizable grasping. GenDexGrasp is trained on our proposed large-scale multi-hand grasping dataset MultiDex synthesized with force closure optimization. By leveraging the contact map as a hand-agnostic intermediate representation, GenDexGrasp efficiently generates diverse and plausible grasping poses with a high success rate and can transfer among diverse multi-fingered robotic hands. Compared with previous methods, GenDexGrasp achieves a three-way trade-off among success rate, inference speed, and diversity. Code is available at https://github.com/tengyu-liu/GenDexGrasp.","url_abs":"https://arxiv.org/abs/2210.00722v2","url_pdf":"https://arxiv.org/pdf/2210.00722v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"gendexgrasp-generalizable-dexterous-grasping","repo_url":"https://github.com/tengyu-liu/GenDexGrasp","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"diversity","task_name":"Diversity"}],"methods":[],"datasets_introduced":[{"slug":"multidex","name":"MultiDex","full_name":""}],"methods_introduced":[],"results":[],"syntology":{"syntology_url":"https://syntology.ai/paper/2210.00722","atlas_url":"https://app.syntology.ai/?focus=2210.00722","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2210.00722"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-25T09:33:49+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. Samples come from repositories linked to the paper, official or community; repo_kind says which.","repos":[{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/tengyu-liu/GenDexGrasp","reach":null}],"summary":{"ran_honours":1,"ran_violates":1},"by_repo_kind":{"official":{"samples":2,"ran":2,"repositories":1}},"repo_kind_vocabulary":{"official":"The archive marks this repository official for the paper","named_in_paper":"The archive records that the paper mentions this repository; it is not marked official","listed":"In the archive's code links for this paper, not marked official and not recorded as mentioned in the paper","found_in_text":"Syntology found this repository in the paper's own text; whether it is the authors' implementation is not asserted","community":"Not in the archive's code links for this paper; a community repository Syntology harvested"},"n_pointer_only_for_licence":2,"samples":[{"code_sha256_prefix":"93bf930fbfb8d237","entry":"identity_map","repo":"tengyu-liu/GenDexGrasp","repo_kind":"official","path":"inf_cvae.py","file_url":"https://github.com/tengyu-liu/GenDexGrasp/blob/HEAD/inf_cvae.py","link_basis":"first_harvest_node","language":"python","status":"ran_honours","verification_level":1,"contract_check":"HONOURS","metamorphic_tier":"invariant","behaviour_fingerprint":true,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"93bf930fbfb8d237"}},{"code_sha256_prefix":"f6ce79010ac089ba","entry":"pre_process_sharp_clamp","repo":"tengyu-liu/GenDexGrasp","repo_kind":"official","path":"inf_cvae.py","file_url":"https://github.com/tengyu-liu/GenDexGrasp/blob/HEAD/inf_cvae.py","link_basis":"first_harvest_node","language":"python","status":"ran_violates","verification_level":1,"contract_check":"VIOLATES","metamorphic_tier":"invariant","behaviour_fingerprint":true,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"f6ce79010ac089ba"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}