用接触场实现毫秒级抓取生成，支持不规则物体无监督抓取。
Lightning Grasp: High Performance Procedural Grasp Synthesis with Contact Fields
- 通过接触场抽象解耦几何计算与搜索过程，提升效率。
- 相比当前最优方法提速数量级，实现实时多样抓取合成。
- 无需调参能量函数，适合复杂工具类物体抓取研究。
尽管经过多年研究，灵巧手在机器人和计算机图形学中仍面临实时、多样抓取生成这一核心挑战。本文提出 Lightning Grasp，一种高性能的程序化抓取生成算法，在保持无监督生成能力的同时，相较于现有最优方法实现了数量级的速度提升，可处理不规则、类似工具的物体。该方法克服了以往方法对精心调参的能量函数及敏感初始化的依赖。其突破源于关键洞察：通过简单高效的结构——接触场（Contact Field），将复杂的几何计算与搜索过程解耦，从而大幅降低问题复杂度，实现前所未有的程序化搜索速度。我们已开源该系统，以推动机器人操作领域的进一步创新。
原文摘要 · Abstract (English)
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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