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Sungho Jo

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Preprint Jul 2026

GraspGraphNet: Graph-Structured Multi-Embodiment Dexterous Grasp Generation

GraspGraphNet is introduced, a topology-aware grasp generation framework that represents each hand as a URDF-derived kinematic graph and directly generates executable palm poses and joint configurations and suggests that graph-structured hand representations can effectively support dexterous grasp generation across robot hands with different kinematic structures.

Y. Lee, Taeyeop Lee, Hyosup Shin et al. · 0 citations