نسخة أولية وصول مفتوح
OpenDexGrasp: Open-vocabulary Task-Oriented Dexterous Grasping
Dexterous grasp synthesis has advanced rapidly in generating stable and physically plausible hand poses, but real-world manipulation requires grasps that preserve the function implied by the task. We study open-vocabulary task-oriented dexterous grasp generation, where a robot must infer functional intent from free-for …