* denotes equal contribution, ☆ tags the corresponding author.


Grasp Multiple Objects with One Hand

Yuyang Li   Bo Liu   Yiran Geng   Puhao Li   Yaodong Yang   Yixin Zhu   Tengyu Liu ☆  Siyuan Huang ☆ 

We propose MultiGrasp, a two-stage framework for simultaneous multi-object grasping with multi-finger dexterous hands.

Project Code Arxiv

Arxiv, under review


GenDexGrasp: Generalizable Dexterous Grasping

Puhao LiTengyu LiuYuyang Li   Yiran Geng   Yaodong Yang   Yixin Zhu   Siyuan Huang ☆ 

We propose GenDexGrasp, a versatile dexterous grasping method that can generalize to out-of-domain robotic hands. In addition, we contribute MultiDex, a large-scale synthetic dexterous grasping dataset.

Arxiv PDF Project Code

International Conference on Robotics and Automation (ICRA) 2023, accepted