DEAL-Grasp: Decoupled Alignment Representation for Geometry-Aware Dexterous Grasp Generation

Abstract:Synthesizing realistic articulated hand-object interactions is a fundamental problem in virtual reality, embodied intelligence, and digital human applications. Existing methods for dexterous grasp synthesis typically regress or denoise poses in a joint space that couples global rigid motion with local articulation, which often yields unstable samples and physically implausible contacts. We introduce DEAL-Grasp, built upon the Decoupled Alignment (DEAL) representation, which reformulates grasp synthesis as alignment-space generation: the interaction state comprises task-space geometric anchors and articulation parameters, from which the rigid transform is recovered via closed-form Procrustes alignment while preserving local articulation. On this mixed state, we model grasp generation using heterogeneous-state flow matching with component-wise vector fields, incorporating time-adaptive physical regularization during training. At inference, grasps are synthesized solely by integrating the learned vector field, without test-time optimization or auxiliary physical guidance. Across MultiDex and zero-shot RealDex benchmarks, DEAL-Grasp attains high force-perturbation success rates alongside minimal penetration and high diversity of generated grasps, while substantially reducing native inference latency compared to optimization-heavy baselines. The project page is available at this https URL.

Robotics (cs.RO); Graphics (cs.GR)

arXiv:2609.28131 [cs.RO]

(or arXiv:2609.28131v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2609.28131 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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