Author

Julien Mérand

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#robotics Preprint Open access Aug 2026

CoToGrasp: Contact-Topology-Conditioned Dexterous Grasp Synthesis via Canonical Workspace Learning

CoToGrasp is a novel generative framework that synthesizes diverse, stable grasps strictly conditioned on specific contact topologies, and introduces a feature-based canonical workspace that projects local object features into a unified gripper-centric domain, effectively decoupling the semantic functional intent from...

Julien Mérand, Boris Meden, Li-Ming Chen et al. · 1 citation

Preprint Aug 2026

GOAG: Generative and Object-Agnostic Grasp Planner for Dexterous Robotic Manipulation

Multifingered grasping is a crucial robotic skill, but current deep-learning grasp planners often struggle to generalize to new objects because they are trained on limited, object-specific datasets. We introduce a fundamentally different approach, grounded in the observation that the gripper and the object share identi...

Julien Mérand, Boris Meden, Mathieu Grossard et al. · 1 citation