DexGrasp-Zero: A Morphology-Aligned Policy for Zero-Shot Cross-Embodiment Dexterous Grasping
To meet the demands of increasingly diverse dexterous hand hardware, it is crucial to develop a policy that enables zero-shot cross-embodiment grasping without redundant re-learning. Cross-embodiment alignment is challenging due to heterogeneous hand kinematics and physical constraints. Existing approaches typically predict intermediate motion targets and retarget them to each embodiment, which may introduce errors and violate embodiment-specific limits, hindering transfer across diverse hands. To overcome these limitations, we propose DexGrasp-Zero, a policy that learns universal grasping skills from diverse embodiments, enabling zero-shot transfer to unseen hands. We first introduce a m...
| Authors | Yuliang Wu, Yanhan Lin, WengKit Lao et al. |
|---|---|
| Primary category | cs.RO |
| Published | 17 March 2026 |
| Last updated at source | 18 March 2026 |
Silytics shows public metadata from arXiv and links to the original. Information may be incomplete or out of date. Last refreshed 17 October 2026. Licenses and terms of the original apply to the work itself. Not financial, legal or professional advice.