DexSinGrasp: Learning a Unified Policy for Dexterous Object Singulation and Grasping in Densely Cluttered Environments Article Swipe
Lixin Xu
,
Zixuan Liu
,
Zhiguo Gui
,
Jingxiang Guo
,
Zeyu Jiang
,
Tongzhou Zhang
,
Zhixuan Xu
,
Chongkai Gao
,
Lin Shao
·
YOU?
·
· 2025
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2504.04516
YOU?
·
· 2025
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2504.04516
Grasping objects in cluttered environments remains a fundamental yet challenging problem in robotic manipulation. While prior works have explored learning-based synergies between pushing and grasping for two-fingered grippers, few have leveraged the high degrees of freedom (DoF) in dexterous hands to perform efficient singulation for grasping in cluttered settings. In this work, we introduce DexSinGrasp, a unified policy for dexterous object singulation and grasping. DexSinGrasp enables high-dexterity object singulation to facilitate grasping, significantly improving efficiency and effectiveness in cluttered environments. We incorporate clutter arrangement curriculum learning to enhance success rates and generalization across diverse clutter conditions, while policy distillation enables a deployable vision-based grasping strategy. To evaluate our approach, we introduce a set of cluttered grasping tasks with varying object arrangements and occlusion levels. Experimental results show that our method outperforms baselines in both efficiency and grasping success rate, particularly in dense clutter. Codes, appendix, and videos are available on our website https://nus-lins-lab.github.io/dexsingweb/.
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- Type
- preprint
- Language
- en
- Landing Page
- http://arxiv.org/abs/2504.04516
- https://arxiv.org/pdf/2504.04516
- OA Status
- green
- OpenAlex ID
- https://openalex.org/W4414529277
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https://openalex.org/W4414529277Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.48550/arxiv.2504.04516Digital Object Identifier
- Title
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DexSinGrasp: Learning a Unified Policy for Dexterous Object Singulation and Grasping in Densely Cluttered EnvironmentsWork title
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preprintOpenAlex work type
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enPrimary language
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2025Year of publication
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2025-04-06Full publication date if available
- Authors
-
Lixin Xu, Zixuan Liu, Zhiguo Gui, Jingxiang Guo, Zeyu Jiang, Tongzhou Zhang, Zhixuan Xu, Chongkai Gao, Lin ShaoList of authors in order
- Landing page
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https://arxiv.org/abs/2504.04516Publisher landing page
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https://arxiv.org/pdf/2504.04516Direct link to full text PDF
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YesWhether a free full text is available
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greenOpen access status per OpenAlex
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https://arxiv.org/pdf/2504.04516Direct OA link when available
- Cited by
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0Total citation count in OpenAlex
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