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DEAL-Grasp: Decoupled Alignment Representation for Geometry-Aware Dexterous Grasp Generation

arXiv · AI, language, vision and robotics · article · Sep 23, 2026 · UTC

Synthesizing realistic articulated hand-object interactions is a fundamental problem in virtual reality, embodied intelligence, and digital human applications. Existing methods for dexterous grasp synthesis typically regress or denoise poses in a joint space that couples global rigid motion with local articulation, which often yields unstable samples and physically implausible contacts. We introduce DEAL-Grasp, built upon the Decoupled Alignment (DEAL) representation, which reformulates grasp synthesis as alignment-space generation: the interaction state comprises task-space geometric anchors

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