arxivcs.CV2026-06-29
DCGrasp: Distance-aware Controllable Grasp Generation
Hiroyasu Akada, Jesús Pérez, Emre Aksan, Vasileios Choutas, Cristian Romero, Alberto Garcia-Garcia, et al.
Generating 3D hand-object interactions is essential for applications in robotics, XR, and synthetic data generation, where flexible controllability and strong generalization to diverse object geometries are required. However, existing methods rarely satisfy these requirements, li…