SECOND-Grasp: Semantic Contact-guided Dexterous Grasping

ArXi:2605.13117v1 Announce Type: cross Achieving reliable robotic manipulation, such as dexterous grasping, requires a synergy between physically stable interactions and semantic task guidance, yet these objectives are often treated as separate, disjoint goals. In this paper, we investigate how to integrate dexterous grasping techniques, i.e., physically stable grasps for object lifting and language-guided grasp generation, to achieve both physical stability and semantic understanding.