Preprint
Jul 2026
GraspGraphNet: Graph-Structured Multi-Embodiment Dexterous Grasp Generation
GraspGraphNet is introduced, a topology-aware grasp generation framework that represents each hand as a URDF-derived kinematic graph and directly generates executable palm poses and joint configurations and suggests that graph-structured hand representations can effectively support dexterous grasp generation across robot hands with different kinematic structures.
Y. Lee, Taeyeop Lee, Hyosup Shin et al.
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