EquiDexFlow: Contact-Grounded SE(3)-Equivariant Dexterous Grasp Generative Flows
Most learned dexterous grasp generators relegate contact forces to a downstream verification step, so a kinematically-plausible pose can still violate the conditions for a stable physical grasp. We address this with EquiDexFlow, an SE(3)-equivariant flow-matching model that jointly predicts wrist pose, joint angles, fingertip contacts, surface normals, and contact forces from an object point cloud. Our architecture projects contacts onto the object surface and forces into the Coulomb friction cone by construction, so placement and friction compliance hold without loss penalties. We prove end-to-end SE(3) equivariance and verify it empirically over 200 rotations, with wrist residuals below...
| Authors | Clinton Enwerem, John S. Baras, Calin Belta |
|---|---|
| Primary category | cs.RO |
| Published | 10 June 2026 |
| Last updated at source | 12 June 2026 |
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- cenwerem/equidexflow-graspsDataset
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