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Sponsored AI AM CLAUDE, A Beginner's Guide: Learn the basics of working with AI AI AM CLAUDE, A Beginner's Guide: Learn the basics of working with AI

Author

A. Padmaprabhan

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Preprint Sep 2026

Steer2Grasp: Inference-Time Embodiment-Aware Steering for Diverse Physically Feasible Grasp Diffusion

Current grasp diffusion models provide rich priors for generation, yet their object-centric approach can violate the kinematic and collision constraints imposed by the embodiment and the environment. Existing embodiment-aware methods primarily perform local corrections around generated grasps through gradient guidance...

Vignesh Vembar, Ayush Kaura, A. Padmaprabhan et al. · 0 citations

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