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Qualitative results show that the proposed HiPA-Gen framework produces clearer limb boundaries, more reliable spatial ordering, and more consistent clothing textures in challenging pose interaction scenarios.
Simulation evidence is provided that preserving a nominal behavioral prior while regulating bounded residual correction through critic disagreement improves three-finger grasping robustness under physical-domain variation.
Compared with the reproduced UniDexGrasp-T baseline under the same object split and evaluation protocol, DexGraspDiffuser improves the three-split average success rate by 3.3 percentage points and reduces the average mean position error by 0.53 cm, indicating that target-coupled grasp and action diffusion contribute to...
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