AdaDexGrasp Adaptive Dexterous Grasping via 3D Visuo-Tactile Representation Fusion

ECCV 2026

Xirui Liang¹, Jiaqi Liang¹*, Jingkai Xu¹*, Yuran Wang¹*, Ruochong Li², Yuanpei Chen¹, Masayoshi Tomizuka³, Wei Zhan³, Ruihai Wu³†

¹ Peking University ² HKUST ³ UC Berkeley

* Equal contribution · † Corresponding author

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Overview

AdaDexGrasp generates an initial contact-aware grasp and adapts failed grasps using visuo-tactile feedback.

Method

Pipeline

AdaDexGrasp pipeline from object point cloud through contact map and grasp generation to tactile classification and pose adaptation.

Model Architecture

Network architecture for contact-driven pose generation, grasp classification, and diffusion-based pose adaptation.

Contact-Driven Grasp Pose Generator

Initial grasp generation results in simulation and the real world.

Grasp Pose Adaptation Model

Failed initial grasps refined into successful grasps in simulation and the real world.

Experiments

Baseline Comparison

Method Seen Objects Unseen Objects Unseen Categories
UniDexGrasp++55%49%42%
DexGraspAnything77%72%67%
DexDiffuser71%69%55%
UniDexGrasp (PPO)52%46%40%
Robot Synesthesia33%29%22%
Intuitive Closed-Loop76%71%65%
ContactDexNet72%68%63%
DexGraspVLA69%60%58%
UniDexGrasp-CL59%52%46%
DexDiffuser-VT75%71%57%
Ours91%82%83%

Ablation Studies

Method Seen Objects Unseen Objects Unseen Categories
w/o contact id in adaptation84%72%73%
w/o contact id in generation79%75%69%
w/o adaptation81%78%59%
Object-only72%67%61%
Full Point Cloud w/o tactile78%74%67%
w/o PC74%71%64%
Ours91%82%83%

Citation

@misc{liang2026adadexgraspadaptivedexterousgrasping,
  title         = {AdaDexGrasp: Adaptive Dexterous Grasping via 3D Visuo-Tactile Representation Fusion},
  author        = {Xirui Liang and Jiaqi Liang and Jingkai Xu and Yuran Wang and Ruochong Li and Yuanpei Chen and Masayoshi Tomizuka and Wei Zhan and Ruihai Wu},
  year          = {2026},
  eprint        = {2608.07600},
  archivePrefix = {arXiv},
  primaryClass  = {cs.RO},
  url           = {https://arxiv.org/abs/2608.07600}
}