Bin-Jia Zhou

DexGraspFlow: Topology-Aware SE(3) Flow Matching for Cross-Embodiment Dexterous Grasp Generation

Differences in hand geometry, joint parameterization, and kinematic topology pose challenges for cross-embodiment dexterous grasp generation. However, spatial relations among links alone are insufficient to fully capture the hand's kinematic topology. We propose DexGraspFlow, a conditional link-level $\mathrm{SE}(3)$ f...