Lightning Grasp: High Performance Procedural Grasp Synthesis with Contact Fields

• URL: http://arxiv.org/abs/2511.07418v1
• Date: Mon, 10 Nov 2025 18:59:44 GMT
• Title: Lightning Grasp: High Performance Procedural Grasp Synthesis with Contact Fields
• Authors: Zhao-Heng Yin, Pieter Abbeel,
• Abstract summary: We present Lightning Grasp, a novel high-performance procedural grasp synthesis algorithm.<n>It achieves orders-of-magnitude speedups over state-of-the-art approaches.<n>We open-source our system to propel further innovation in robotic manipulation.
• Score: 55.014365168982884
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• 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.

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