# NDPP-Grasp: Non-Differentiable Physical Plausibility Constraints Guide Task-Oriented Dexterous Grasp Generation

- Source: arXiv cs.RO
- Published: 2026-11-02T05:00:00.000Z
- RoboHot: https://robohot.news/en/items/nroh7es4d7t1k2xfsnefbkb24
- Original: https://arxiv.org/abs/2606.02432

## Summary

NDPP-Grasp proposes injecting physical plausibility constraints directly into the denoising process of a task-aligned grasp diffusion model, so that guidance can be applied throughout generation even when the constraints are non-differentiable. Existing diffusion methods first train a grasp diffusion model for task alignment and then apply physical plausibility correction after generation, leaving the generation trajectory itself unguided by physical constraints. The work was accepted to NeurIPS 2026.