Author

Keshab Patra

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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

Preprint Aug 2026

PartialBiGrasp: Inferring Hidden Local Geometry for Bimanual Grasping from Partial Views

This work proposes PartialBiGrasp, a dual-arm grasp generation framework that operates directly on partial point cloud observations that learns geometric features implicitly through convolutional occupancy networks, enabling local reasoning about graspability, collision-free contact regions, and object thickness.

Ayush Kaura, Vignesh Vembar, Md Faizal Karim et al. · 0 citations