---
license: cc-by-4.0
language:
- en
pipeline_tag: robotics
tags:
- Grasping
- Manipulation
- IA
- CVAE
---
# **GOAG: Generative and Object-Agnostic Grasp Planner for Dexterous Robotic Manipulation** 

[Julien Mérand](https://julienmerand.github.io/portfolio/)<sup>1</sup>, &nbsp;&nbsp; [Boris Meden](https://scholar.google.com/citations?user=knXPf8oAAAAJ&hl=fr)<sup>1</sup>, &nbsp;&nbsp; [Mathieu Grossard](mailto:mathieu.grossard@cea.fr)<sup>1</sup>, &nbsp;&nbsp; [Liming Chen](https://scholar.google.com/citations?user=VOPW5YYAAAAJ&hl=fr)<sup>2</sup>

<sup>1</sup>Université Paris-Saclay, CEA-List &nbsp;&nbsp; <sup>2</sup>École Centrale de Lyon, CNRS, LIRIS, UMR5205, Institut Universitaire de France (IUF)


## 2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

[**Project Page**](https://cea-list.github.io/goagweb/) &nbsp;&nbsp;|&nbsp;&nbsp; [**arXiv**](https://arxiv.org/abs/2608.19759)


**GOAG** is novel deep generative model that learns a compact latent representation of a specific gripper's contact surface distribution, enabling the efficient sampling of valid grasp configurations without relying on object-specific training data. 
By introducing object features only at inference time, GOAG can effectively retrieve admissible contact areas that are compatible with the gripper’s capabilities.



See [https://github.com/CEA-LIST/GOAG](https://github.com/CEA-LIST/GOAG) for full code and instructions.


Your directory tree should strictly follow this structure:
```bash
# Model Checkpoints
GOAG                        # Main folder
├── ...
├── logs                    # ckpts folder
    ├── allegro_cvae
    ├── allegro_pointnet
    ├── barrett_cvae
    ├── barrett_pointnet
    ├── shadowhand_cvae
    └── shadowhand_pointnet
└── ...

# Dataset Directory
GOAG_DATA
├── handprints
├── pointclouds
    ├── dexgrab
    ├── dexgraspnet
    ├── multidex
    ├── realdex
    └── unidexgrasp
├── urdf
    ├── objects
    │   ├── dexgrab
    │   ├── dexgraspnet
    │   ├── multidex
    │   ├── realdex
    │   └── unidexgrasp
    └── robot
        ├── allegro
        ├── barrett
        └── shadowhand
└── workspaces
```