{"id":"https://openalex.org/W7125412934","doi":"https://doi.org/10.48550/arxiv.2601.15039","title":"CADGrasp: Learning Contact and Collision Aware General Dexterous Grasping in Cluttered Scenes","display_name":"CADGrasp: Learning Contact and Collision Aware General Dexterous Grasping in Cluttered Scenes","publication_year":2026,"publication_date":"2026-01-21","ids":{"openalex":"https://openalex.org/W7125412934","doi":"https://doi.org/10.48550/arxiv.2601.15039"},"language":null,"primary_location":{"id":"pmh:doi:10.48550/arxiv.2601.15039","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5123552255","display_name":"Jiyao Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Zhang, Jiyao","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066174919","display_name":"Zhiyuan Ma","orcid":"https://orcid.org/0000-0001-6776-0272"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ma, Zhiyuan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5123571355","display_name":"Tianhao Wu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wu, Tianhao","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5123569760","display_name":"Zeyuan Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Zeyuan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5123606557","display_name":"Hao Dong","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dong, Hao","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5123552255"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9628999829292297,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9628999829292297,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.0203000009059906,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11398","display_name":"Hand Gesture Recognition Systems","score":0.002400000113993883,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.863099992275238},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6352999806404114},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5489000082015991},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.53329998254776},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4794999957084656},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.4142000079154968},{"id":"https://openalex.org/keywords/closure","display_name":"Closure (psychology)","score":0.34040001034736633}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.863099992275238},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6861000061035156},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6352999806404114},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5691999793052673},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5489000082015991},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.53329998254776},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5084999799728394},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4794999957084656},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.4142000079154968},{"id":"https://openalex.org/C146834321","wikidata":"https://www.wikidata.org/wiki/Q2979672","display_name":"Closure (psychology)","level":2,"score":0.34040001034736633},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.3321000039577484},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.3224000036716461},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.30149999260902405},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2973000109195709},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28380000591278076},{"id":"https://openalex.org/C189430467","wikidata":"https://www.wikidata.org/wiki/Q7293293","display_name":"Ranking (information retrieval)","level":2,"score":0.2775000035762787},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.26460000872612},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.26109999418258667},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.2554999887943268}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2601.15039","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2601.15039","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2601.15039","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:doi:10.48550/arxiv.2601.15039","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.4024334251880646,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Dexterous":[0],"grasping":[1,43],"in":[2,139],"cluttered":[3],"environments":[4],"presents":[5],"substantial":[6],"challenges":[7],"due":[8],"to":[9,131,154],"the":[10,50,64,71,77,81,93,114,146],"high":[11,160],"degrees":[12],"of":[13,15,95,148],"freedom":[14],"dexterous":[16,42,78,87,134],"hands,":[17],"occlusion,":[18],"and":[19,27,60,73,80,85,108,122,142,167],"potential":[20],"collisions":[21,156],"arising":[22],"from":[23],"diverse":[24,165],"object":[25],"geometries":[26],"complex":[28,168],"layouts.":[29],"To":[30,91],"address":[31],"these":[32],"challenges,":[33],"we":[34,53,99,117],"propose":[35],"CADGrasp,":[36],"a":[37,57,159],"two-stage":[38],"algorithm":[39],"for":[40,125],"general":[41],"using":[44],"single-view":[45],"point":[46],"cloud":[47],"inputs.":[48],"In":[49,113],"first":[51],"stage,":[52,116],"predict":[54],"sparse":[55,129],"IBS,":[56],"scene-decoupled,":[58],"contact-":[59],"collision-aware":[61],"representation,":[62,98],"as":[63],"optimization":[65,126],"target.":[66],"Sparse":[67],"IBS":[68,130],"compactly":[69],"encodes":[70],"geometric":[72],"contact":[74],"relationships":[75],"between":[76],"hand":[79],"scene,":[82],"enabling":[83],"stable":[84],"collision-free":[86],"grasp":[88,135,161],"pose":[89],"optimization.":[90],"enhance":[92],"prediction":[94],"this":[96],"high-dimensional":[97],"introduce":[100],"an":[101],"occupancy-diffusion":[102],"model":[103],"with":[104],"voxel-level":[105],"conditional":[106],"guidance":[107],"force":[109],"closure":[110],"score":[111],"filtering.":[112],"second":[115],"develop":[118],"several":[119],"energy":[120],"functions":[121],"ranking":[123],"strategies":[124],"based":[127],"on":[128],"generate":[132],"high-quality":[133],"poses.":[136],"Extensive":[137],"experiments":[138],"both":[140],"simulated":[141],"real-world":[143],"settings":[144],"validate":[145],"effectiveness":[147],"our":[149],"approach,":[150],"demonstrating":[151],"its":[152],"capability":[153],"mitigate":[155],"while":[157],"maintaining":[158],"success":[162],"rate":[163],"across":[164],"objects":[166],"scenes.":[169]},"counts_by_year":[],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2026-01-23T00:00:00"}
