Sequential Multi-Object Grasping with One Dexterous Hand

[Project website] [Paper]

Authors: Sicheng He, Zeyu Shangguan, Kuanning Wang, Yongchong Gu, Quqian Fu, Yanwei Fu, Daniel Seita

TODO

• Release the multi-object grasp pose synthesis pipeline
• Release the diffusion generative model training codebase
• Visualization scripts
• Documentation on how to add new objects

📚 Documentation

• Installation: Installation and environment setup
• Quickstart: Step-by-step guide to running the code
• Notes: Additional information and tips

References

This codebase incorporates code from the following projects:

• DexGraspNet's allegro branch
• MultiGrasp
• Get a Grip
• DexGraspNet2

Citation

If you find this work useful, please consider citing:

@article{he2025sequential,
    title={Sequential Multi-Object Grasping with One Dexterous Hand}, 
    author={Sicheng He and Zeyu Shangguan and Kuanning Wang and Yongchong Gu and Yuqian Fu and Yanwei Fu and Daniel Seita},
    journal={arXiv preprint arXiv:2503.09078}, 
    year={2025}
}