dexterous-grasping

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

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

Replicate MANO hand-object interactions in MuJoCo & IsaacGym and evaluate grasp success — a benchmark for HOI generation.

This is the official repository for paper "Adaptive Vision-Language Grasping via Composable Foundation Priors and Generalizable Grasp Synthesis".

Contact-grounded SE(3)-equivariant dexterous grasp generative flows

Fingertip-contact-aware Sampling-based Grasp Generator

Robust dexterous grasping with variational neural beliefs (IROS 2026)

Dexterous pick-and-place with Allegro hands on a dual-arm UR3/UR3e: FoundationPose 6D perception + BODex grasp synthesis, in Isaac Lab and on real hardware

Unofficial PyTorch reproduction for DexGrasp Anything: Towards Universal Robotic Dexterous Grasping with Physics Awareness.

MANIP-ULTRADEX — Bimanual Dexterous Grasping

Digitaler Zwilling der pib-Hand (Isaac Sim 5.1, ROS 2) und RL-Greifen in Isaac Lab für die reale pib-v5-Hand — RoboCup @Home

Benchmark hand-object interaction models by testing generated grasps in MuJoCo and IsaacGym to measure physical plausibility and success rates.