dexterous-manipulation 开源项目推荐（103 个）

dexsuite /dex-retargeting

Various retargeting optimizers to translate human hand motion to robot hand motion.

google-research /robopianist

[CoRL '23] Dexterous piano playing with deep reinforcement learning.

zdchan /GraspXL

This is a repository for GraspXL, which can generate objective-drive grasping motions for 500k+ objects with different dexterous hands.

HaozhiQi /hora

In-Hand Object Rotation via Rapid Motor Adaptation (CoRL 2022), and more

zhaohengyin /lightning-grasp

The Lightning Grasp System

yzqin /dexmv-sim

DexMV: Imitation Learning for Dexterous Manipulation from Human Videos, ECCV 2022

sequential-dexterity /SeqDex

"Sequential Dexterity: Chaining Dexterous Policies for Long-Horizon Manipulation" code repository

zdchan /RobustDexGrasp

This is a repository for RobustDexGrasp, which achieves robust dexterous grasping of 500+ unseen objects with random poses from single-view perception.

yanming03 /awesome-humanoid-manipulation

A curated list of awesome papers and resources on humanoid manipulation, dexterous manipulation, bimanual dexterous manipulation, in-hand manipulation, and humanlike manipulation.

yzqin /dex-hand-teleop

From One Hand to Multiple Hands: Imitation Learning for Dexterous Manipulation from Single-Camera Teleoperation, RA-L IROS 2022

Improbable-AI /dexenv

Code for Visual Dexterity: In-Hand Reorientation of Novel and Complex Object Shapes (Science Robotics)

asu-iris /Complementarity-Free-Dexterous-Manipulation

State-of-the-art method for model-based dexterous manipulation

oakink /OakInk2

🌴[CVPR 2024] OakInk2: A Dataset of Bimanual Hands-Object Manipulation in Complex Task Completion

yzqin /dexpoint-release

DexPoint: Generalizable Point Cloud Reinforcement Learning for Sim-to-Real Dexterous Manipulation, CoRL 2022

asu-iris /comfree_warp

A GPU-Parallel analytical physics engine with mujoco API compatibility

boyuan-an /GALATEA

Reconstruct 3D hand-object trajectories from generated videos, and train one general RL tracking policy for a dexterous robot hand.

x-robotics-lab /dexscrew

Learning Dexterous Manipulation Skills from Imperfect Simulations

cypypccpy /dynamic_handover

"Dynamic Handover: Throw and Catch with Bimanual Hands" code repository

Holiday-Robot /FlashDexRetarget

FlashDexRetarget: Accelerating Dexterous Manipulation Data Generation through Multi-Motion Retargeting

Soltanilara /av-aloha

Code for the paper: "Active Vision Might Be All You Need: Exploring Active Vision in Bimanual Robotic Manipulation"