CoToGrasp: Contact-Topology-Conditioned Dexterous Grasp Synthesis via Canonical Workspace Learning
技术动态
来源：arXiv cs.RO发布时间待核实
arXiv:2608.19776v1 Announce Type: new Abstract: Current dexterous grasp planners primarily optimize for physical stability, focusing on whether an object can be grasped rather than how it should be grasped to support downstream functional tasks. However, conditioning grasp synthesis on specific human grasp taxonomies typically requires prohibitively expensive, object-annotated datasets.