2025
ClutterDexGrasp: A Sim-to-Real System for General Dexterous Grasping in Cluttered Scenes
CoRL 2025oral
Dexterous grasping in cluttered scenes presents significant challenges due to diverse object geometries, occlusions, and potential collisions. Existing methods primarily focus on single-object grasping or grasp-pose prediction without interaction, which are insufficient for complex, cluttered scenes…