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

- Source: arXiv cs.RO
- Published: 2026-10-21T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/yzdl4wbxctb1s9tbnhn958bt6
- Original: https://arxiv.org/abs/2610.26962

## Summary

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.