Preprint
Sep 2026
InterMASH: A Unified Geometric Representation for Grasp Synthesis
A conditional Diffusion Transformer that operates directly in the proposed InterMASH representation space and jointly generates hand geometry and contact, improving consistency and physical plausibility and shows that cross-embodiment fine-tuning with human grasp data can improve robotic grasp success and diversity.
Xuan-Ze Yang, Yu-Meng Liu, Hai-Yang Xin et al.
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