Huaicong Fang

T(R, O) Grasp: Efficient Graph Diffusion of Robot-Object Spatial Transformation for Cross-Embodiment Dexterous Grasping

Dexterous grasping remains a central challenge in robotics due to the complexity of its high-dimensional state and action space. We introduce T(R,O) Grasp, a diffusion-based framework that efficiently generates accurate and diverse grasps across multiple robotic hands. At its core is the T(R,O) Grap…