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arXiv · 2610.25410

T(R,O) Grasp++: Cross-Embodiment Dexterous Grasping in Cluttered Environments at Scale

Xin Fei·Zhixuan Xu·Huaicong Fang·Fangjun Chen·Zhaoyu Mu·Rui Yang·Zhexi Luo·Lin Shao
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Abstract

Dexterous grasping in cluttered scenes remains a central challenge in robotic manipulation, as it requires high-dimensional hand coordination under complex object-environment constraints. To address this problem, we introduce one of the largest simulation benchmarks to date, comprising around 0.5B grasp annotations across eight dexterous hands and approximately 50K objects. Furthermore, we propose T(R,O) Grasp++, a scalable diffusion-based framework for cross-embodiment dexterous grasp synthesis in cluttered environments. Extensive experiments demonstrate that our model significantly outperforms existing baselines, achieving an average success rate of 88% across eight dexterous embodiments. Meanwhile, our pipeline achieves only 0.3s inference latency while improving inference sample efficiency by over 10 times.

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Xin Fei, Zhixuan Xu, Huaicong Fang, Fangjun Chen, Zhaoyu Mu, Rui Yang, Zhexi Luo, Lin Shao. 2026-10-18. T(R,O) Grasp++: Cross-Embodiment Dexterous Grasping in Cluttered Environments at Scale. https://arxiv.org/abs/2610.25410

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