dexterous-robotic-hand - 技术专题

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

This is a library that provides dual dexterous hand manipulation tasks through Isaac Gym

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

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

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

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

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

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

PyTorch Code for "Generalization in Dexterous Manipulation via Geometry-Aware Multi-Task Learning"

ThinkJEPA: Empowering Latent World Models with Large Vision-Language Reasoning Model

Learning Continuous Grasping Function with a Dexterous Hand from Human Demonstrations, RA-L 2023

Linux ROS2 driver for manus glove

We developed a task-driven hybrid model reduction method for solving dexterous manipulation with 5 minutes of online learning.

The project demonstrates an advanced dynamic manipulation strategy by soft gripper called flex-and-flip. The technique is targeted at flexible, thin objects and applied to obtaining secure, pinch grasps on them.

A curated list of papers, datasets, simulators, hardware platforms, and open-source resources for dexterous robot hands and hand-object manipulation.

🦾 A universal ROS 2 package for dexterous hands with 6 active DOFs. Features a unified HAL for CAN/Serial hardware and a local mock driver.

Test of mujoco-py PID control with shadow robot-like hand

Pure-Python driver for the Inspire RH56DFTP dexterous hand — Modbus TCP, no ROS, with a browser debug UI.

Code for paper "Learning Visuotactile Policy for Fast and Stable Placement"