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Yuanjun Guo

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Open access Jul 2026

DexGraspDiffuser: Target-Coupled Grasp and Action Diffusion for Dexterous Grasping

Compared with the reproduced UniDexGrasp-T baseline under the same object split and evaluation protocol, DexGraspDiffuser improves the three-split average success rate by 3.3 percentage points and reduces the average mean position error by 0.53 cm, indicating that target-coupled grasp and action diffusion contribute to improved grasp quality, execution accuracy, and closed-loop stability.

Juncheng Zhu, Haotian Yang, Zhile Yang et al. · 0 citations