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title

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Dexterous Functional Grasping

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site name

author

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2026-01-10 00:25:59

raw text

Dexterous Functional Grasping Dexterous Functional Grasping Ananye Agarwal     Shagun Uppal     Kenneth Shaw     Deepak Pathak Carnegie Mellon University CoRL 2023 Paper arXiv Reviews Abstract While there have been significant strides in dexterous manipulation, most of it is limited to benchmark tasks like in-hand reorientation which are of limited utility in the real world. The main benefit of dexterous hands over two-fingered ones is their ability to pickup tools and other objects (including thin ones) and grasp them firmly in order to apply force. However, this task requires both a complex understanding of functional affordances as well as precise low-level control. While prior work obtains affordances from human data this approach doesn't scale to low-level control. Similarly, simulation training cannot give the robot an understanding of real-world semantics. In this paper, we aim to combine the best of both worlds to accomplish functional graspi...

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