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DexGraspFlow: Topology-Aware SE(3) Flow Matching for Cross-Embodiment Dexterous Grasp Generation

DexGraspFlow proposes a conditional link-level SE(3) flow-matching framework for cross-embodiment dexterous grasp generation. It combines geometric relations with kinematic topology, uses a dual-stream DiT to model link-link coordination and link-object interaction, and provides explicit structural information through attention biases derived from kinematic-tree distances.

Part of the event: Proposes cross-embodiment dexterous grasp generation framework DexGraspFlow

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