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2nd Place Solution to the HANDS 2026 Workshop Challenge-Dexterous Grasp Motion Track: Single-Shot Trajectory Warping for Grasp Motion Generation

arXiv · AI, language, vision and robotics · article · Sep 18, 2026 · UTC

This report describes our 2nd place solution to the HANDS 2026 workshop challenge (Dexterous Grasp Motion track) in conjunction with ECCV 2026. In this challenge, we address grasp motion generation for the 12-DoF LinkerHand O6, aiming to produce physically plausible reach-and-lift trajectories for unseen objects from randomized initial hand poses in simulation. This task is particularly challenging because each grasp requires a per-step policy to make approximately $70$ twelve-dimensional decisions, with errors accumulating over time, while test objects and physical dynamics may differ from th

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