Publications

2026

1. 

   Steer2Grasp: Inference-Time Embodiment-Aware Steering for Diverse Physically Feasible Grasp Diffusion

   Vignesh Vembar*, Ayush Kaura*, A Padmaprabhan*, Siddharth Sinha, Kailash Nagarajan, Keshab Patra, Md Faizal Karim, K Madhava Krishna

   Preprint, 2026 (Under review at ICRA 2027)

   Embodiment-aware inference-time steering of frozen grasp diffusion models.

   abs project

   Current grasp diffusion models provide rich priors for generation, yet their object-centric approach can violate the kinematic and collision constraints imposed by the embodiment and the environment. Existing embodiment-aware methods primarily perform local corrections around generated grasps through gradient guidance or optimization, making it difficult to recover from fundamentally infeasible modes. We present Steer2Grasp, a training-free, embodiment-agnostic framework for inference-time grasp steering that adapts a frozen Cartesian grasp diffusion model using deployment-specific rewards. Through Feynman-Kac (FK) inspired particle reweighting and resampling, the method reallocates population mass from infeasible to high-reward grasp modes, enabling population-level mode transitions without modifying the pretrained diffusion model or requiring differentiable constraints. The framework enables a unified treatment for single and dual arm grasping through reachability and collision aware rewards, followed by gradient free gripper level local refinement. Across diverse objects, robot embodiments, and constrained environments, our method substantially improves feasible grasp generation while maintaining proximity to the underlying grasp prior.

2. 

   PartialBiGrasp: Inferring Hidden Local Geometry for Bimanual Grasping from Partial Views

   Ayush Kaura*, Vignesh Vembar*, Md Faizal Karim, Keshab Patra, K Madhava Krishna

   Conference on Robot Learning (CoRL), 2026

   Dual-arm grasp generation on single-view point clouds, using hierarchical occupancy networks to reason about hidden local geometry.

   abs arxiv project code

   Dual-arm robotic grasping is essential for manipulating large, heavy, and geometrically complex objects that cannot be reliably handled using a single manipulator. These large objects often contain only sparse graspable regions determined by local geometric properties such as thickness, edge structure, and gripper clearance. Prior bimanual grasping methods assume access to a full point cloud of the object which inherently contains this geometric information, but may not be accessible in real scenarios. This work proposes PartialBiGrasp, a dual-arm grasp generation framework that operates directly on partial point cloud observations. Our model learns geometric features implicitly through convolutional occupancy networks, enabling local reasoning about graspability, collision-free contact regions, and object thickness. We leverage this understanding to generate force-closure compliant grasp pairs, which are further refined using a sampling-based optimization to correct for ambiguity caused by incomplete geometry. We evaluate our approach using analytical force-closure metrics, large-scale simulation experiments, and real-world robot evaluations on noisy partial point clouds of novel objects, demonstrating robust and physically stable dual-arm grasp generation.

3. 

   DAGDiff: Guiding Dual-Arm Grasp Diffusion to Stable and Collision-Free Grasps

   Md Faizal Karim*, Vignesh Vembar*, Keshab Patra, Gaurav Singh, K Madhava Krishna

   IEEE International Conference on Robotics and Automation (ICRA), 2026

   End-to-end diffusion that directly generates dual-arm grasp pairs given a point cloud.

   abs arxiv project code

   Reliable dual-arm grasping is essential for manipulating large and complex objects but remains a challenging problem due to stability, collision, and generalization requirements. Prior methods typically decompose the task into two independent grasp proposals, relying on region priors or heuristics that limit generalization and provide no principled guarantee of stability. We propose DAGDiff, an end-to-end framework that directly denoises to grasp pairs in the SE(3) x SE(3) space. Our key insight is that stability and collision can be enforced more effectively by guiding the diffusion process with classifier signals, rather than relying on explicit region detection or object priors. To this end, DAGDiff integrates geometry-, stability-, and collision-aware guidance terms that steer the generative process toward grasps that are physically valid and force-closure compliant. We comprehensively evaluate DAGDiff through analytical force-closure checks, collision analysis, and large-scale physics-based simulations, showing consistent improvements over previous work on these metrics. Finally, we demonstrate that our framework generates dual-arm grasps directly on real-world point clouds of previously unseen objects, which are executed on a heterogeneous dual-arm setup where two manipulators reliably grasp and lift them.