DiffMorphGrasp: A Diffusion Framework Conditioned on Hand Morphology for Cross-Embodiment Grasp Generation
DiffMorphGrasp is a diffusion-based framework designed to generate dexterous grasps for any robot hand morphology from an object's shape. It unifies grasp synthesis by encoding hand structure information into the generation process, allowing a single model to create successful grasps across diverse robot hands without prior training on each specific morphology.