@article{fromgraspstodexteritylargescalegrasppret,
  title = {From Grasps to Dexterity: Large-Scale Grasp Pretraining for Dexterous Manipulation},
  author = {Ying Yuan and Xinyu Liu and Sriram Krishna and David Held},
  year = {2026},
  eprint = {2606.30749},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2606.30749},
}