trograspweb/index.html at main · NUS-LinS-Lab/trograspweb · GitHub

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<!DOCTYPE html>
<html>
<head>
  <meta charset="utf-8">
  <title>T(R,O) Grasp</title>

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</head>
<body>

<section class="hero">
  <div class="hero-body">
    <div class="container is-max-desktop">
      <div class="columns is-centered">
        <div class="column has-text-centered">
          <h1 class="title is-1 publication-title">
            \(\small \mathcal{T(R,O)}\) Grasp: Efficient Graph Diffusion of Robot-Object Spatial
            Transformation for Cross-Embodiment Dexterous Grasping
          </h1>

          <div class="is-size-5 publication-authors">
            <span class="author-block">
              <a href="https://xinfei21.github.io/web/">Xin Fei</a><sup>1,2*</sup>,
            </span>
            <span class="author-block">
              <a href="https://ariszxxu.github.io/">Zhixuan Xu</a><sup>1,2*</sup>,
            </span>
            <span class="author-block">
              Huaicong Fang<sup>3</sup>,
            </span>
            <span class="author-block">
              <a href="https://ztr583.github.io/">Tianrui Zhang</a><sup>1,2</sup>,
            </span>
            <br>
            <span class="author-block">
              <a href="https://linsats.github.io/">Lin Shao</a><sup>1,2</sup>
            </span>
          </div>

          <div class="is-size-5 publication-authors">
            <div>
              <span class="author-block"><sup>1</sup>National University of Singapore,</span>
              <span class="author-block"><sup>2</sup>RoboScience</span>
              <span class="author-block"><sup>3</sup>Zhejiang University</span>
            </div>
            <div>
              <span class="author-block">* denotes equal contribution</span>
          </div>

          <div class="column has-text-centered">
            <div class="publication-links">
              <!-- Appendix Link. -->
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                   class="external-link button is-normal is-rounded is-dark">
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                  <span>Appendix</span>
                </a>
              </span>
              <!-- Code Link. -->
              <span class="link-block">
                <a href="https://github.com/Barrybarry-Smith/TRO-Grasp"
                  class="external-link button is-normal is-rounded is-dark">
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                  <span>Code</span>
                </a>
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                <a href="https://arxiv.org/abs/2510.12724"
                  class="external-link button is-normal is-rounded is-dark">
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                    <i class="ai ai-arxiv"></i>
                  </span>
                  <span>arXiv</span>
                </a>
              </span>
            </div>

          </div>
        </div>
      </div>
    </div>
  </div>
</section>

<section class="hero teaser">
  <div class="column has-text-centered", style="font-size: 24px;">
    \(\mathcal{T(R,O)}\) \(=\) <strong>\(\mathcal{T}\)</strong>ransformation \((\)<strong>\(\mathcal{R}\)</strong>obot, <strong>\(\mathcal{O}\)</strong>bject \()\)
  </div>
  <div class="container is-max-desktop">
    <div class="hero-body">
      <video id="teaser" loop playsinline height="100%" controls class="video-with-border">
        <source src="./static/assets/teaser.mp4" type="video/mp4">
      </video>
    </div>
  </div>
</section>

<section class="teaser image">
  <div class="container is-max-desktop">
    <div class="hero-body">
      <img src="./static/assets/teaser.jpg" alt="Teaser Image" style="width:100%; height:auto;">
    </div>
  </div>
</section>


<section class="section">
  <div class="container is-max-desktop">
    <!-- Abstract. -->
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      <div class="column is-four-fifths">
        <h2 class="title is-3">Abstract</h2>
        <div class="content has-text-justified">
          <p>
            Dexterous grasping remains a central challenge in robotics due to the complexity of its
            high-dimensional state and action space. We introduce \(\small \mathcal{T(R,O)}\) Grasp,
            a diffusion-based framework that efficiently generates accurate and diverse grasps across multiple robotic hands.
            At its core is the \(\small \mathcal{T(R,O)}\) Graph, a unified representation that models spatial transformations
            between robotic hands and objects while encoding their geometric properties. A graph diffusion model,
            coupled with an efficient inverse kinematics solver, supports both unconditioned and conditioned grasp synthesis.
          </p>
          <p>
            Extensive experiments on a diverse set of dexterous hands show that \(\small \mathcal{T(R,O)}\) Grasp achieves average
            success rate of 94.83%, inference speed of 0.21s, and throughput of 41 grasps per second on an NVIDIA A100 40GB GPU,
            substantially outperforming existing baselines. In addition, our approach is robust and generalizable across embodiments
            while significantly reducing memory consumption. More importantly, the high inference speed enables closed-loop dexterous
            manipulation, underscoring the potential of \(\small \mathcal{T(R,O)}\) Grasp to scale into a foundation model for dexterous grasping.
          </p>
        </div>
      </div>
    </div>
    <!--/ Abstract. -->
</section>

<section class="pipeline">
  <h2 class="title is-3 has-text-centered">Method Overview</h2>
  <div class="container is-max-desktop">
    <div class="hero-body" style="padding-top: 10px; padding-bottom: 10px;">
      <img src="./static/assets/pipeline.jpg" alt="Teaser Image" style="width:100%; height:auto;">
      <p>
        Overview of \(\small \mathcal{T(R,O)}\) Grasp: We first define \(\small \mathcal{T(R,O)}\) Grasp Graph to represent spatial transformations of robotic links and
        objects with auxiliary geometry information. Next, we introduce a graph diffusion model that enables both unconditioned and conditioned grasp synthesis.
      </p>
    </div>
  </div>
</section>

<!-- ========================= -->
<!-- Unconditioned Grasps -->
<!-- ========================= -->
<section class="section">
  <div class="container is-max-desktop">
    <div class="columns is-centered">
      <div class="column">
        <h2 class="title is-3 has-text-centered">Unconditioned Grasp Synthesis</h2>
      </div>
    </div>

    <div class="columns is-centered has-text-centered">
      <!-- Barrett -->
      <div class="column is-one-quarter" style="display: flex; flex-direction: column; align-items: center;">
        <model-viewer
          id="uncond-viewer1"
          src="./static/assets/uncond/Barrett/contactdb+apple/0.glb"
          alt="Barrett Grasp"
          ar camera-controls auto-rotate
          style="width: 200px; height: 200px; border: 3px solid #66c0ff; border-radius: 15px;">
        </model-viewer>
        <p style="font-size: 20px; font-weight: bold;">Barrett</p>
      </div>

      <!-- Allegro -->
      <div class="column is-one-quarter" style="display: flex; flex-direction: column; align-items: center;">
        <model-viewer
          id="uncond-viewer2"
          src="./static/assets/uncond/Allegro/contactdb+apple/0.glb"
          alt="Allegro Grasp"
          ar camera-controls auto-rotate
          style="width: 200px; height: 200px; border: 3px solid #66c0ff; border-radius: 15px;">
        </model-viewer>
        <p style="font-size: 20px; font-weight: bold;">Allegro</p>
      </div>

      <!-- Shadowhand -->
      <div class="column is-one-quarter" style="display: flex; flex-direction: column; align-items: center;">
        <model-viewer
          id="uncond-viewer3"
          src="./static/assets/uncond/Shadowhand/contactdb+apple/0.glb"
          alt="Shadowhand Grasp"
          ar camera-controls auto-rotate
          style="width: 200px; height: 200px; border: 3px solid #66c0ff; border-radius: 15px;">
        </model-viewer>
        <p style="font-size: 20px; font-weight: bold;">Shadowhand</p>
      </div>

      <!-- Control Panel -->
      <div class="column is-one-quarter" style="text-align: center;">
        <label for="uncond-object" style="font-size: 20px; font-weight: bold;">Object Name</label>
        <select id="uncond-object" style="width: 200px; margin-top: 10px;">
          <option value="contactdb+apple">contactdb+apple</option>
          <option value="contactdb+camera">contactdb+camera</option>
          <option value="contactdb+cylinder_medium">contactdb+cylinder_medium</option>
          <option value="contactdb+rubber_duck">contactdb+rubber_duck</option>
          <option value="contactdb+door_knob">contactdb+door_knob</option>
          <option value="contactdb+water_bottle">contactdb+water_bottle</option>
          <option value="ycb+baseball">ycb+baseball</option>
          <option value="ycb+pear">ycb+pear</option>
          <option value="ycb+potted_meat_can">ycb+potted_meat_can</option>
          <option value="ycb+tomato_soup_can">ycb+tomato_soup_can</option>
        </select>

        <div style="margin-top: 20px;">
          <div style="font-size: 20px; font-weight: bold;">Grasp ID: <span id="uncond-id-label">0</span></div>
          <input type="range" id="uncond-id" min="0" max="9" value="0" style="width: 200px;">
        </div>
      </div>
    </div>
  </div>
</section>

<script>
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    uncondViewers[2].src = `./static/assets/uncond/Shadowhand/${obj}/${gid}.glb`;
  }
  uncondObject.addEventListener("change", updateUncond);
  uncondSlider.addEventListener("input", updateUncond);
</script>

<!-- ========================= -->
<!-- Conditioned Grasps -->
<!-- ========================= -->
<section class="section">
  <div class="container is-max-desktop">
    <div class="columns is-centered">
      <div class="column">
        <h2 class="title is-3 has-text-centered">Conditioned Grasp Synthesis</h2>
      </div>
    </div>

    <div class="columns is-centered has-text-centered">
      <!-- Barrett -->
      <div class="column is-one-quarter" style="display: flex; flex-direction: column; align-items: center;">
        <model-viewer
          id="cond-viewer1"
          src="./static/assets/cond/Barrett/contactdb+apple/0.glb"
          alt="Barrett Grasp"
          ar camera-controls auto-rotate
          style="width: 200px; height: 200px; border: 3px solid #66c0ff; border-radius: 15px;">
        </model-viewer>
        <p style="font-size: 20px; font-weight: bold;">Barrett</p>
      </div>

      <!-- Allegro -->
      <div class="column is-one-quarter" style="display: flex; flex-direction: column; align-items: center;">
        <model-viewer
          id="cond-viewer2"
          src="./static/assets/cond/Allegro/contactdb+apple/0.glb"
          alt="Allegro Grasp"
          ar camera-controls auto-rotate
          style="width: 200px; height: 200px; border: 3px solid #66c0ff; border-radius: 15px;">
        </model-viewer>
        <p style="font-size: 20px; font-weight: bold;">Allegro</p>
      </div>

      <!-- Shadowhand -->
      <div class="column is-one-quarter" style="display: flex; flex-direction: column; align-items: center;">
        <model-viewer
          id="cond-viewer3"
          src="./static/assets/cond/Shadowhand/contactdb+apple/0.glb"
          alt="Shadowhand Grasp"
          ar camera-controls auto-rotate
          style="width: 200px; height: 200px; border: 3px solid #66c0ff; border-radius: 15px;">
        </model-viewer>
        <p style="font-size: 20px; font-weight: bold;">Shadowhand</p>
      </div>

      <!-- Control Panel -->
      <div class="column is-one-quarter" style="text-align: center;">
        <label for="cond-object" style="font-size: 20px; font-weight: bold;">Object Name</label>
        <select id="cond-object" style="width: 200px; margin-top: 10px;">
          <option value="contactdb+apple">contactdb+apple</option>
          <option value="contactdb+camera">contactdb+camera</option>
          <option value="contactdb+cylinder_medium">contactdb+cylinder_medium</option>
          <option value="contactdb+rubber_duck">contactdb+rubber_duck</option>
          <option value="contactdb+door_knob">contactdb+door_knob</option>
          <option value="contactdb+water_bottle">contactdb+water_bottle</option>
          <option value="ycb+baseball">ycb+baseball</option>
          <option value="ycb+pear">ycb+pear</option>
          <option value="ycb+potted_meat_can">ycb+potted_meat_can</option>
          <option value="ycb+tomato_soup_can">ycb+tomato_soup_can</option>
        </select>

        <div style="margin-top: 20px;">
          <div style="font-size: 20px; font-weight: bold;">Grasp ID: <span id="cond-id-label">0</span></div>
          <input type="range" id="cond-id" min="0" max="9" value="0" style="width: 200px;">
        </div>
      </div>
    </div>
  </div>
</section>

<script>
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    document.getElementById("cond-viewer2"),
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  function updateCond() {
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    condLabel.textContent = gid;
    condViewers[0].src = `./static/assets/cond/Barrett/${obj}/${gid}.glb`;
    condViewers[1].src = `./static/assets/cond/Allegro/${obj}/${gid}.glb`;
    condViewers[2].src = `./static/assets/cond/Shadowhand/${obj}/${gid}.glb`;
  }
  condObject.addEventListener("change", updateCond);
  condSlider.addEventListener("input", updateCond);
</script>

<section class="section">
  <div class="container is-max-desktop">
    <!-- Real World. -->
    <div class="columns is-centered has-text-centered">
      <div class="column is-four-fifths">
        <h2 class="title is-3">Real-world Results</h2>
        <div class="content has-text-centered">

          <h3 style="margin-bottom: 8px; font-size: 1.2rem; color: #444;">
            XHand: 91%
          </h3>

          <div style="margin-bottom: 20px;">
            <video autoplay muted loop playsinline style="width:100%; height:auto;">
              <source src="./static/assets/xhand.mp4" type="video/mp4">
            </video>
          </div>

          <h3 style="margin-bottom: 8px; font-size: 1.2rem; color: #444;">
            LEAP Hand: 90%
          </h3>
          <div>
            <video autoplay muted loop playsinline style="width:100%; height:auto;">
              <source src="./static/assets/leaphand.mp4" type="video/mp4">
            </video>
          </div>

          <h3 style="margin-bottom: 8px; font-size: 1.2rem; color: #444;">
            Closed-loop Grasping
          </h3>

          <div style="margin-bottom: 20px;">
            <video autoplay muted loop playsinline style="width:100%; height:auto;">
              <source src="./static/assets/closed-loop.mp4" type="video/mp4">
            </video>
          </div>

        </div>
      </div>
    </div>
    <!--/ Real World. -->
  </div>
</section>

<!-- Citation -->
<section class="section" id="Citation">
  <div class="container is-max-desktop content" style="margin-top: -40px;">
    <h2 class="title">Citation</h2>
    <pre>
      <code>
        @misc{fei2025trograspefficientgraph,
          title={T(R,O) Grasp: Efficient Graph Diffusion of Robot-Object Spatial Transformation for Cross-Embodiment Dexterous Grasping},
          author={Xin Fei and Zhixuan Xu and Huaicong Fang and Tianrui Zhang and Lin Shao},
          year={2025},
          eprint={2510.12724},
          archivePrefix={arXiv},
          primaryClass={cs.RO},
          url={https://arxiv.org/abs/2510.12724},
        }
      </code>
    </pre>
  </div>
</section>
<!--/ Citation -->

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