English

Lightning Grasp: High Performance Procedural Grasp Synthesis with Contact Fields

Robotics 2025-11-11 v1 Artificial Intelligence Computer Vision and Pattern Recognition Distributed, Parallel, and Cluster Computing Graphics

Abstract

Despite years of research, real-time diverse grasp synthesis for dexterous hands remains an unsolved core challenge in robotics and computer graphics. We present Lightning Grasp, a novel high-performance procedural grasp synthesis algorithm that achieves orders-of-magnitude speedups over state-of-the-art approaches, while enabling unsupervised grasp generation for irregular, tool-like objects. The method avoids many limitations of prior approaches, such as the need for carefully tuned energy functions and sensitive initialization. This breakthrough is driven by a key insight: decoupling complex geometric computation from the search process via a simple, efficient data structure - the Contact Field. This abstraction collapses the problem complexity, enabling a procedural search at unprecedented speeds. We open-source our system to propel further innovation in robotic manipulation.

Keywords

Cite

@article{arxiv.2511.07418,
  title  = {Lightning Grasp: High Performance Procedural Grasp Synthesis with Contact Fields},
  author = {Zhao-Heng Yin and Pieter Abbeel},
  journal= {arXiv preprint arXiv:2511.07418},
  year   = {2025}
}

Comments

Code: https://github.com/zhaohengyin/lightning-grasp

R2 v1 2026-07-01T07:30:25.320Z