FIRMGrasp: A Friction-Informed Risk Margin for Robust Grasp Synthesis - 2026-07-27 - Research Publication - Simulation studies test friction-robust grasp ranking on LEAP, Allegro and Shadow hand models. - source: arxiv.org
GraspGraphNet: Graph-Structured Multi-Embodiment Dexterous Grasp Generation - 2026-07-13 - Research Publication - Dexterous grasp generation across robot hands is challenging because hands differ in kinematic topology, actuation dimensions, and native command spaces. We introduce GraspGraphNet, a topology-aware grasp generation… - source: arxiv.org
Cross-Embodiment Robot Manipulation via a Unified Hand Action Space - 2026-07-03 - Research Publication - Cross-embodiment transfer is physically tested on LEAP Hand and simulated on Allegro and Shadow hands. - source: arxiv.org