OpenDexGrasp: Open-vocabulary Task-Oriented Dexterous Grasping

arXiv:2609.18117 · cs.RO · Submitted 2026-09-16 · Read on arXiv

cs.RO

Submitted: 2026-09-16

Updated: 2026-09-17

Comments: Accepted at CoRL2026

Project page: https://opendexgrasp.github.io

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Affordance — 84× in this paper · explained in 1 episode
• Alignment — 37× in this paper · explained in 1 episode
• Grounding — 24× in this paper · explained in 3 episodes
• Success Rate — 9× in this paper
• Ablation — 7× in this paper · explained in 1 episode
• Latent Representation — 7× in this paper · explained in 2 episodes
• Generalization — 5× in this paper · explained in 13 episodes
• Latent Space — 5× in this paper · explained in 7 episodes
• CVF International Conference on Computer Vision — 4× in this paper
• Generative Model — 4× in this paper · explained in 2 episodes
• Penetration Depth — 4× in this paper
• Solid Intersection Volume — 4× in this paper
• Abstraction — 3× in this paper · explained in 1 episode
• Conference on Computer Vision and Pattern Recognition — 3× in this paper
• Point Clouds — 3× in this paper · explained in 2 episodes
• Transformer — 3× in this paper · explained in 2 episodes
• Ablation study — 2× in this paper · explained in 1 episode
• Benchmark — 2× in this paper · explained in 2 episodes
• Failure Modes — 2× in this paper · explained in 3 episodes
• Flow Matching — 2× in this paper · explained in 7 episodes
• Generative Modeling — 2× in this paper · explained in 3 episodes
• IEEE International Conference on Robotics and Automation — 2× in this paper
• Interpretability — 2× in this paper · explained in 15 episodes
• Semantic Alignment — 2× in this paper · explained in 3 episodes
• 6D Object Pose Estimation — 1× in this paper · explained in 1 episode
• Ablation Studies — 1× in this paper · explained in 1 episode
• Action Decoder — 1× in this paper · explained in 1 episode
• Action Space — 1× in this paper · explained in 1 episode
• Adam — 1× in this paper · explained in 2 episodes
• Affordance Detection — 1× in this paper · explained in 1 episode
• Consistency — 1× in this paper · explained in 3 episodes
• Decode — 1× in this paper · explained in 2 episodes
• Diffusion Model — 1× in this paper · explained in 8 episodes
• Diffusion Models — 1× in this paper · explained in 6 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Generative Models — 1× in this paper · explained in 2 episodes
• Physical Constraints — 1× in this paper · explained in 7 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Vision-Language Model (VLM) — 1× in this paper · explained in 3 episodes

Sources

• GrainGrasp: Dexterous Grasp Generation with Fine-grained Contact Guidance
• UGG: Unified Generative Grasping
• DexDiffuser: Generating Dexterous Grasps with Diffusion Models
• Task-Oriented Dexterous Hand Pose Synthesis Using Differentiable Grasp Wrench Boundary Estimator
• SemGrasp: Semantic Grasp Generation via Language Aligned Discretization
• $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control
• Qwen3-VL Technical Report

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