{"id":"https://openalex.org/W7125529723","doi":"https://doi.org/10.48550/arxiv.2601.16046","title":"DextER: Language-driven Dexterous Grasp Generation with Embodied Reasoning","display_name":"DextER: Language-driven Dexterous Grasp Generation with Embodied Reasoning","publication_year":2026,"publication_date":"2026-01-22","ids":{"openalex":"https://openalex.org/W7125529723","doi":"https://doi.org/10.48550/arxiv.2601.16046"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2601.16046","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2601.16046","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2601.16046","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5123691214","display_name":"Junha Lee","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lee, Junha","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5123710983","display_name":"Eunha Park","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Park, Eunha","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5123677001","display_name":"Minsu Cho","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cho, Minsu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"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":0.9624000191688538,"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":0.9624000191688538,"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":0.0052999998442828655,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.004699999932199717,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.9593999981880188},{"id":"https://openalex.org/keywords/embodied-cognition","display_name":"Embodied cognition","score":0.8220999836921692},{"id":"https://openalex.org/keywords/bridging","display_name":"Bridging (networking)","score":0.599399983882904},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5575000047683716},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4932999908924103},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.48899999260902405},{"id":"https://openalex.org/keywords/encoding","display_name":"Encoding (memory)","score":0.4643000066280365}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9593999981880188},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.8220999836921692},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6431000232696533},{"id":"https://openalex.org/C174348530","wikidata":"https://www.wikidata.org/wiki/Q188635","display_name":"Bridging (networking)","level":2,"score":0.599399983882904},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5575000047683716},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5467000007629395},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4932999908924103},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.48899999260902405},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.47769999504089355},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.4643000066280365},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.4336000084877014},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4259999990463257},{"id":"https://openalex.org/C192327766","wikidata":"https://www.wikidata.org/wiki/Q1038799","display_name":"Cognitive robotics","level":3,"score":0.3813000023365021},{"id":"https://openalex.org/C103683099","wikidata":"https://www.wikidata.org/wiki/Q5370102","display_name":"Embodied agent","level":3,"score":0.38119998574256897},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.34769999980926514},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.32350000739097595},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3082999885082245},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.26460000872612},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.2558000087738037}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2601.16046","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2601.16046","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2601.16046","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2601.16046","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Language-driven":[0],"dexterous":[1],"grasp":[2,32,101,138],"generation":[3,129],"requires":[4],"the":[5,69,96,104],"models":[6,19],"to":[7,23,31],"understand":[8],"task":[9,78],"semantics,":[10],"3D":[11],"geometry,":[12],"and":[13],"complex":[14],"hand-object":[15],"interactions.":[16,39],"While":[17],"vision-language":[18],"have":[20],"been":[21],"applied":[22],"this":[24],"problem,":[25],"existing":[26],"approaches":[27],"directly":[28],"map":[29],"observations":[30],"parameters":[33],"without":[34],"intermediate":[35,75],"reasoning":[36,53],"about":[37],"physical":[38,81],"We":[40,125],"present":[41],"DextER,":[42],"Dexterous":[43],"Grasp":[44],"Generation":[45],"with":[46,80,119],"Embodied":[47],"Reasoning,":[48],"which":[49,63,90],"introduces":[50],"contact-based":[51],"embodied":[52,86],"for":[54],"multi-finger":[55],"manipulation.":[56],"Our":[57],"key":[58],"insight":[59],"is":[60],"that":[61],"predicting":[62],"hand":[64,105],"links":[65,92],"contact":[66,87,93,132],"where":[67,94],"on":[68,95],"object":[70,97],"surface":[71],"provides":[72],"an":[73],"embodiment-aware":[74],"representation,":[76],"bridging":[77],"semantics":[79],"constraints.":[82],"DextER":[83,109],"autoregressively":[84],"generates":[85],"tokens":[88,102],"specifying":[89],"finger":[91],"surface,":[98],"followed":[99],"by":[100,116],"encoding":[103],"configuration.":[106],"On":[107],"DexGYS,":[108],"achieves":[110],"67.14%":[111],"success":[112],"rate,":[113],"outperforming":[114],"state-of-the-art":[115],"3.83":[117],"p.p.":[118],"96.4%":[120],"improvement":[121],"in":[122],"intention":[123],"alignment.":[124],"also":[126],"demonstrate":[127],"steerable":[128],"through":[130],"partial":[131],"specification,":[133],"providing":[134],"fine-grained":[135],"control":[136],"over":[137],"synthesis.":[139]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-01-24T00:00:00"}
