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Guiding dexterous grasp generation with arm-aware constraints boosts feasibility in complex environments, outperforming traditional methods reliant on hand-centric models.
HUGS achieves a remarkable balance between grasp success and diversity, synthesizing 3.2 million grasps that can adaptively handle objects from screws to large boxes.
Steering embodiment-agnostic policies with joint-space guidance can slash collision rates by over 90% in real-world robotic tasks.
