Dexterous grasping is the foundational primitive in embodied AI, demanding massive data to train robust models. As real-world data collection is expensive, simulation has become the mainstream paradigm. Yet, while cluttered scenes best reflect real-world applications, learning to grasp within them is bottlenecked by a critical scarcity of large-scale data. To resolve this, we curate high-quality 3D objects and supporting bases, proposing a scalable seed-and-filter strategy that bypasses sluggish scene-level optimization. This yields an unprecedented benchmark comprising over 2.6 million scenes and 0.4B scene-specific grasp ground truths, featuring diverse realistic layouts paired with rich semantic and geometric observations. Furthermore, we introduce the OmniDex model to overcome the grasp multimodality and last-millimeter precision errors plaguing current generative models. By coupling Soft Winner-Takes-All learning with human-inspired physical constraints during training, and utilizing physics-driven ranking, our approach achieves robust dexterous grasping without the latency of post-optimization. Experimental results show that OmniDex model achieves state-of-the-art performance and strong generalization across diverse scenes, views, and unseen objects.
This report presents the implementation and validation of two end-to-end multimodal adaptation pipelines for 3D-aware visual question answering on a custom spatial dataset. The first pipeline fine-tunes HiSpatial-3B, which augments RGB observations with metric-scale 3D point maps; the second adapts Qwen3-VL through memory-efficient QLoRA-based supervised fine-tuning. The completed engineering stack covers dataset conversion, image-annotation alignment, monocular geometry preprocessing, instruction construction, mixed-domain training, checkpoint management, batch inference, and automated evaluation. On the target spatial benchmark, HiSpatial adaptation increases overall accuracy from 1.73% before fine-tuning to 79.89% at 3,600 steps. On a separately collected styled split, accuracy improves from 14.9% to 55.1%, indicating transfer beyond the original training set. The Qwen3-VL pipeline is likewise implemented end-to-end for both 8B- and 32B-scale models using mixed-domain QLoRA adaptation. The resulting accuracy improves from 20.74% to 45.27% for Qwen3-VL-8B and from 30.79% to 47.60% for Qwen3-VL-32B. Together, these results establish two complementary and reproducible adaptation pipelines for geometry-aware and general-purpose multimodal spatial reasoning. These results establish a reproducible engineering foundation for subsequent work on metric 3D reasoning, spatial grounding, and domain-adapted multimodal systems, while also identifying training-data composition as a central factor in preserving general multimodal capability during specialization.