2nd Place Solution to the HANDS 2026 Workshop Challenge-Dexterous Grasp Motion Track:

This report describes our 2nd place solution to the HANDS 2026 workshop challenge (Dexterous Grasp Motion track) in conjunction with ECCV 2026. It comes from a paper posted to arXiv on 22 September 2026. In this challenge, we address grasp motion generation for the 12-DoF LinkerHand O6, aiming to produce physically plausible reach-and-lift trajectories for unseen objects from randomized initial hand poses in simulation. This task is particularly challenging because each grasp requires a per-step policy to make approximately $70$ twelve-dimensional decisions, with errors accumulating over time, while test objects and physical dynamics may differ from those encountered during training. To address these challenges, we propose editing a single successful GraspM3 demonstration instead of generating the motion step by step: a policy observes the object once and outputs a 12-D warp of the demonstration, which is then replayed open-loop. Moreover, we train the warp policy with one-step PPO over all $4{,}824$ training objects in parallel. As a result, our method achieved success rates of $94.61\%$ on the easy track, the highest of all submissions, and $57.18\%$ on the hard track of the private test set.

Why it counts

In this challenge, we address grasp motion generation for the 12-DoF LinkerHand O6, aiming to produce physically plausible reach-and-lift trajectories for unseen objects from randomized initial hand poses in simulation.

Sources

Primary source: primary source

What is not known

This brief does not claim independent replication. Claims that appear only on X and not in the primary source stay unknown.