Publications

GenDexGrasp: Generalizable Dexterous Grasping

Puhao Li *  Tengyu Liu *  Yuyang Li   Yiran Geng   Yaodong Yang   Yixin Zhu   Siyuan Huang ☆ 

We propose GenDexGrasp, a versatile dexterous grasping method that can generalize to out-of-domain robotic hands. In addition, we contribute MultiDex, a large-scale synthetic dexterous grasping dataset.

Arxiv PDF Project Code

International Conference on Robotics and Automation (ICRA) 2023, Accepted