SeqMultiGrasp

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[IROS 2025] Sequential Multi-Object Grasping with One Dexterous Hand

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# Sequential Multi-Object Grasping with One Dexterous Hand

[[Project website](https://hesic73.github.io/SeqMultiGrasp/)] [[Paper](https://arxiv.org)]

**Authors**: [Sicheng He](https://hesicheng.net/), [Zeyu Shangguan](https://zshanggu.github.io/), [Kuanning Wang](https://sressers.github.io/knw/), Yongchong Gu, [Quqian Fu](http://yuqianfu.com/), [Yanwei Fu](https://yanweifu.github.io/), [Daniel Seita](https://danielseita.github.io/)

## TODO

- [x] Release the multi-object grasp pose synthesis pipeline
- [x] Release the diffusion generative model training codebase
- [x] Visualization scripts
- [ ] Documentation on how to add new objects

## 📚 Documentation

- [Installation](docs/installation.md): Installation and environment setup
- [Quickstart](docs/quickstart.md): Step-by-step guide to running the code
- [Notes](docs/notes.md): Additional information and tips

## References

This codebase incorporates code from the following projects:

- [DexGraspNet](https://github.com/PKU-EPIC/DexGraspNet)'s [allegro branch](https://github.com/PKU-EPIC/DexGraspNet/tree/allegro)
- [MultiGrasp](https://github.com/MultiGrasp/MultiGrasp)
- [Get a Grip](https://github.com/tylerlum/get_a_grip)
- [DexGraspNet2](https://github.com/PKU-EPIC/DexGraspNet2)

## Citation

If you find this work useful, please consider citing:

```bibtex
@article{he2025sequential,
    title={Sequential Multi-Object Grasping with One Dexterous Hand}, 
    author={Sicheng He and Zeyu Shangguan and Kuanning Wang and Yongchong Gu and Yuqian Fu and Yanwei Fu and Daniel Seita},
    journal={arXiv preprint arXiv:2503.09078}, 
    year={2025}
}
```

SeqMultiGrasp

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