HUG trains a flow-matching model on a new 1M-frame egocentric human grasp dataset to generate retargetable grasps from single RGB-D images, beating baselines by 23-34% on a new 90-object benchmark.
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Dexgraspnet: A large-scale robotic dexterous grasp dataset for general objects based on simulation
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BiDexGrasp supplies a 9.7-million-grasp bimanual dexterous dataset built via two-stage synthesis and a coordinated geometry-size-adaptive model that generates grasps for unseen objects.
CoLA-Flow Policy encodes action sequences into a continuous latent space and learns an explicit flow there, yielding near-single-step inference with up to 93.7% smoother trajectories and 25-point higher task success than raw-action flow baselines.
Grasp pretraining on 355k trajectories improves full-task success on six articulated tool-use tasks by 33.3 pp over DP3 in real-world experiments.
MOCHI enhances noisy collaborative human-object interaction captures via grasp optimization followed by diffusion-based full-body refinement that incorporates interaction information into single-person motion priors.
AnnotateAnything converts passive 3D assets into manipulation-ready assets by combining vision-language reasoning for semantics with parallel physics pipelines for executable action annotations such as grasps and articulations.
T-Rex introduces a large tactile dataset and MoT architecture that achieves over 30% higher success rates than baselines on 12 tasks requiring force control and deformable object handling.
KPGrasp is a scalable Transformer flow-matching model using 3D hand keypoints that achieves 76.3% success on Dexonomy (47.4% improvement) and best average on DexGrasp Anything without contact losses or test-time refinement.
Any-ttach shows that rapid end-effector swapping combined with demonstration collection and task planning enables reliable multi-tool skills in long-horizon tasks such as sandwich making.
GeoHand adapts priors from a general-scene geometry estimator via a GeoAdapter, gated fusion, and keypoint-queried refiner to reach SOTA monocular 3D hand reconstruction on FreiHAND, DexYCB, and HO3Dv3 under heavy occlusion.
SECOND-Grasp integrates semantic contact proposals from vision-language reasoning with geometric refinement to achieve 98%+ lifting success and improved intent-aware grasping on seen and unseen objects.
A unified parametric framework optimizes dexterous hand designs by combining structure, kinematics, and fine surface geometry for grasp stability in simulation and real-world tests.
A unified parameter space and canonical URDF enable cross-embodiment dexterous grasping policies with 81.9% zero-shot success on unseen hands like the 3-finger LEAP Hand.
ViTacFormer learns a cross-modal visuo-tactile latent space with autoregressive tactile prediction and an easy-to-hard curriculum, then uses the representation for imitation learning that yields ~50% higher success and the first reported 11-stage, 2.5-minute autonomous dexterous tasks.
InDex adapts VLA models to high-DoF dexterous manipulation via intent-conditioned fine-tuning and a decoupled diffusion head, outperforming monolithic baselines in simulation tasks with minimal data.
A simulation framework generates diverse reach-to-grasp demonstrations to train imitation learning policies for biosignals-free prosthetic grasping, achieving over 90% success in sim-to-real transfer.
Human2Any transfers human video demonstrations to robots by representing tasks as object-object interactions and composing learned priors with robot-side planning.
A structured survey of dexterous robotic hand research that reviews hardware, control methods, data resources, and benchmarks while identifying major limitations and future directions.
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Towards Robotic Dexterous Hand Intelligence: A Survey
A structured survey of dexterous robotic hand research that reviews hardware, control methods, data resources, and benchmarks while identifying major limitations and future directions.