ConGraspXL: Controllable Constraint-Conditioned Dexterous Grasping Motion Synthesis
Dexterous grasping is usually conducted for specific tasks, leading to heterogeneous constraints such as specific approach directions, desired contact regions, specified wrist trajectories, and functional hand poses. Our previous work, GraspXL, achieves scalable grasping motion synthesis for diverse objects and hand morphologies, while lacking controllability for synthesis under such various task-driven constraints. In this paper, we propose ConGraspXL, which extends GraspXL with controllable constraint-conditioned grasp motion synthesis that accommodates diverse task-driven constraints and their combinations. We introduce a hierarchical constraint formulation, enable flexible constraint ...
| Authors | Hui Zhang, Mirko Meboldt, Jie Song |
|---|---|
| Primary category | cs.RO |
| Published | 14 September 2026 |
| Last updated at source | 14 September 2026 |
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