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InterMASH: A Unified Geometric Representation for Grasp Synthesis

arXiv · AI, language, vision and robotics · article · Sep 16, 2026 · UTC

Grasp synthesis aims to generate stable and physically plausible hand--object interactions, and has become a fundamental problem in both human hand modeling and robotic manipulation. However, a unified representation across human and robotic hands is still lacking, mainly due to differences in hand morphology and surface modeling. Prior methods typically rely on either contact maps or dense implicit descriptors to represent interaction, but these representations are often incomplete or computationally expensive and redundant. We propose InterMASH, a unified geometric representation that establ

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