DEXTEROUS MANIPULATION

The world of dexterous hands.

Compare hardware. Discover applications. Share what works. An open reference and community for dexterous manipulation.

Understand the market ↗Choose a hand ↗Share an experiment ↗Find tools & datasets ↗

Projects

Explore source-linked robotics projects and tools on Dexhands.

Carnegie Mellon University

LEAP Hand

A research hand with design files, APIs and examples for teleoperation and learned manipulation.

UC San Diego / NVIDIA

AnyTeleop

Vision-based hand–arm teleoperation research with links to retargeting and visualization code.

Hugging Face / LeRobot contributors

LeRobot

Tools for recording datasets, training policies and exploring robot-learning workflows.

Google DeepMind / MuJoCo contributors

MuJoCo

A physics engine for articulated systems and contact-rich robotics experiments.

DexSuite contributors

Dex Retargeting

Software for mapping human hand motion to the joint configurations of robotic hands.

Meta research / TACTO contributors

TACTO

An archived research simulator for images from vision-based tactile sensors, including DIGIT and OmniTact examples.

Google DeepMind / Menagerie contributors

MuJoCo Menagerie

A collection of robot models for MuJoCo, including LEAP, Allegro, Shadow Hand and DEX-EE models.

SJTU / Tsinghua / UC San Diego research team

DexArt

A simulated benchmark for learning to manipulate articulated objects and testing generalization to unseen objects.

Google DeepMind / Playground contributors

MuJoCo Playground

GPU-accelerated robot-learning environments, including tasks for dexterous manipulation.

OpenTeach / NYU research team

OpenTeach

Headset-based teleoperation and demonstration collection for several robot arms and dexterous hands.

OpenTeleVision research team

Open-TeleVision

Immersive robot teleoperation with active stereo visual feedback and hand-motion tracking.

BunnyVisionPro research team

BunnyVisionPro

Bimanual dexterous teleoperation with Vision Pro tracking and real-time retargeting.

HORA research team

HORA

In-hand object rotation using reinforcement learning and rapid motor adaptation.

DexMV research team

DexMV

Simulation and retargeting tools for learning dexterous manipulation from human videos.

DexPoint research team

DexPoint

Point-cloud reinforcement learning for generalizable dexterous manipulation.

PKU-EPIC

UniDexGrasp

Dexterous grasp proposal generation paired with goal-conditioned grasp policies.

DexDeform research team

DexDeform

Dexterous deformable-object manipulation with human demonstrations and differentiable physics.

DAPG research team

DAPG

Demonstration-augmented policy-gradient learning for dexterous hand manipulation.

Google Research / RoboPianist authors

RoboPianist

A MuJoCo benchmark for coordinated piano playing with two simulated robotic hands.

Farama Foundation

Gymnasium Robotics

MuJoCo robotics environments with Gymnasium interfaces, including dexterous hand tasks.

Isaac Lab project

Isaac Lab

GPU-oriented robot-learning framework with articulated-robot manipulation environments.

ManiSkill contributors

ManiSkill

SAPIEN-based manipulation simulation with GPU-parallel environments and robot-learning tools.

ARISE Initiative

robosuite

Modular MuJoCo simulation framework for robot manipulation and benchmark tasks.

ARISE Initiative

robomimic

A framework for training and evaluating manipulation policies from demonstrations.

Meta Research / DIGIT project

DIGIT Interface

Python interface for connecting to DIGIT vision-based tactile sensors and reading their output.

Tactile Gym research team

Tactile Gym 2.0

PyBullet learning environments using simulated tactile observations for contact tasks.

DexImit research team

DexImit

A pipeline for learning bimanual dexterous manipulation from monocular human videos.

DFKI Robotics Innovation Center

Hand Embodiment

A modular pipeline transferring captured human-hand motions to different robotic embodiments.

Pollen Robotics

AmazingHand

A printable four-finger research hand with mechanical files and control software.

Chestnut Robotics

Aero Hand Open

A tendon-driven research-hand design with assembly, firmware and simulation resources.

ORCA Hand

ORCA Hand Hardware

CAD, printable parts and assembly resources for ORCA hand variants.

Yale GRAB Lab

Yale OpenHand

CAD and build resources for a family of adaptive robotic hands and grippers.

LEAP Hand

LEAP Hand v2 Standard SDK

Python and ROS 2 interfaces with serial setup and calibration for LEAP Hand v2 Standard.

LEAP Hand

LEAP Hand in Isaac Lab

An Isaac Lab environment and sim-to-real examples for LEAP v1 single-axis in-hand reorientation.

ORCA Hand

ORCA Core

Python control package with calibration, tendon tensioning and joint-space commands.

ORCA Hand

ORCA Simulation

MuJoCo simulation environments for ORCA hands using the Gymnasium API.

ORCA Hand

ORCA Teleoperation

Capture-source and retargeting tools for operating ORCA hands from human hand motion.

PSYONIC

Ability Hand API

Manufacturer documentation, Python/C++ wrappers and simulation examples for the Ability Hand.

SCHUNK

SCHUNK SVH ROS Driver

SVH robot-hand driver with descriptions, trajectory control and simulation integration.

Shadow Robot

Shadow Hand ROS Interface

ROS interfaces and integration tools for the Shadow dexterous-hand family.

Shadow Robot

DEX-EE ROS Interfaces

ROS messages, services and robot descriptions for DEX-EE.

Wonik Robotics

Allegro Hand v5 ROS 2

Official ROS 2 control and feedback packages for the four-finger Allegro v5 hand.

DexRobot

DexCanvas

Dataset-loading tools for human hand-motion trajectories in Lance/Parquet formats.

DexRobot

DexRobot MuJoCo

DexHand simulation tools with collision-model options and tactile-sensor examples.

Sharpa Robotics

Sharpa Wave SDK

Libraries and API documentation for integrating Sharpa Wave into robotics applications.

Wuji Technology

Wuji SDK

Device discovery, streaming, recording and hand-retargeting interfaces for Wuji devices.

NYU Robot Learning

Inspire Hand Research SDK

Research-maintained Python tools for RH56 hand control and fingertip-target inverse kinematics.

PKU-EPIC / BODex research team

BODex

GPU-based dexterous grasp synthesis and approach-trajectory planning using bilevel optimization.

PKU-EPIC

DexGraspNet 2.0

Generative dexterous grasping tools for large synthetic cluttered scenes.

NVIDIA Research / University of Washington

TacSL

Visuotactile sensor simulation and policy-learning research for contact-intensive manipulation.

MandiZhao

DexMachina

Physics-based retargeting of human demonstrations into coordinated robot-hand manipulation of articulated objects.

dexwild

DexWild

Portable human demonstrations and robot data combined to train dexterous manipulation policies.

real-stanford

DexUMI

A wearable interface that records dexterous demonstrations and adapts their visual appearance for robot learning.

Meowuu7

DexTrack

Dexterous manipulation through reinforcement learning that tracks human-derived hand–object motion.

PKU-EPIC

UniDexGrasp++

A generalist-and-specialist training approach for dexterous grasping across object geometries.

tengyu-liu

GenDexGrasp

Contact-map-based grasp synthesis designed to generalize across robotic hand embodiments.

microsoft

UniGraspTransformer

Transformer policies distilled from specialist grasping policies to handle varied objects.

JYChen18

Dexonomy

Contact templates and a grasp taxonomy for synthesizing human-like dexterous grasp configurations.

facebookresearch

Sparsh

Self-supervised encoders for vision-based touch, with downstream evaluation through TacBench.

raunaqbhirangi

AnySkin

Python tools for collecting measurements from a magnetic tactile skin.

irmakguzey

T-Dex / Dexterity from Touch

Learning tactile representations from exploratory interaction and using them for dexterous manipulation.

ManipTrans

Transfers dexterous bimanual human demonstrations to robots with residual learning.

Liang-ZX

DexHandDiff

Interaction-aware diffusion planning for dexterous manipulation.

NVlabs

DextrAH

Hand–arm grasping research that transfers privileged training information into visual policies.

Improbable-AI

Visual Dexterity

Visual learning for in-hand object reorientation with a D’Claw robot.

YuLiHN

DexDiffuser

A grasp sampler, evaluator and refinement pipeline conditioned on partial object point clouds.

MultiGrasp

Dexterous grasp generation and execution research for holding multiple objects in one hand.

4DVLab

DexH2R

A benchmark for dynamic human-to-robot handovers with dexterous hands.

PKU-MARL

Bi-DexHands

A collection of bimanual dexterous manipulation tasks for reinforcement-learning experiments.

dexsuite

Dex URDF

A collection of hand and object model descriptions for dexterous robotics workflows.

robot-descriptions

robot_descriptions.py

Python loaders for robot description packages, including models useful for hand experiments.

lixiny

manotorch

A differentiable MANO hand-model layer with anatomical hand utilities in PyTorch.

hassony2

manopth

A PyTorch implementation of the MANO hand-model layer for differentiable hand reconstruction.

geopavlakos

HaMeR

Transformer-based reconstruction of three-dimensional human hand meshes from images.

facebookresearch

Hand Tracking Toolkit

Tools for reading, visualizing and evaluating hand-tracking data and model outputs.

rolpotamias

WiLoR

Hand detection and three-dimensional hand reconstruction in varied visual scenes.

ThunderVVV

HaWoR

Reconstruction of world-space hand motion from egocentric video.

zc-alexfan

HOLD

Joint reconstruction of a hand and a held object from video.

ZhengdiYu

Dyn-HaMR

Reconstruction of interacting hand motion in four dimensions from moving-camera video.

ruka-hand

RUKA

A tendon-driven research hand with design, calibration and control resources.

ruka-hand-v2

RUKA-v2

A later RUKA design with wrist and finger-abduction capabilities and accompanying control tools.

SoutheastWind

Tactile SoftHand-A

Design resources for a tactile, underactuated hand with antagonistic tendon actuation.

midas-hand-org

MIDAS Hand API

Python control, homing and tactile-sensor tools for the MIDAS hand.

zhaohengyin

Lightning Grasp

A contact-field-based procedural grasp-generation engine used by DexterityGen.

facebookresearch

SPIDER

Physics-based retargeting of human motion into robot trajectories across supported embodiments.

malik-group

Do as I Do

A video-to-robot workflow combining reconstruction, retargeting and model-predictive control.

Rice-RobotPI-Lab

EgoInfinity

A reconstruction pipeline for recovering metric hand–object interaction from RGB video.

brave-eai

DexJoCo

A MuJoCo benchmark for coordinated dexterous manipulation and tool use.

srl-ethz

PoMDAR

A dexterous manipulation benchmark with simulation assets, printable objects and demonstration interfaces.

ycyao216

DexVerse

A research benchmark intended to cover multiple dexterous hand tasks and embodiments.

mimicrobotics

Smooth Operator / mimic retargeter

Retargeting research and tools for mapping human motion onto different dexterous hands.

iSEE-Laboratory

TypeTele

Manipulation-type-aware retargeting for dexterous teleoperation.

yunhaif

REGRIND

Retargeting-guided reinforcement learning for dexterous manipulation.

tylerlum

Get a Grip

A grasp dataset and learning pipeline connecting grasp proposals to hand–arm planning.

IRVLUTD

RobotFingerPrint

A common-coordinate representation for transferring grasp information across different robot hands.

google-deepmind

GeoMatch

Geometry-matching research for grasp synthesis across different robot embodiments.

4DVLab

DexGraspAnything

Physics-aware dexterous grasp generation across varied objects.

GeorgeWuzy

CEDex

Cross-embodiment dexterous grasping with a human-like contact representation.

hgaurav2k

HOP

Hand–object interaction pretraining followed by task-specific dexterous policy learning.

x-robotics-lab

DexScrew

Dexterous tool manipulation using a learned rotation prior and real-world sensing adaptation.

ZaynLeung

DexTele / Robotelop

Dual-arm retargeting and teleoperation code with physical-robot recordings and simulation examples.

WenjiaWang0312

EmbodMocap

Four-dimensional reconstruction of human motion and scene context from everyday recordings.

Tao-11-chen

ForeHOI

Feed-forward object reconstruction and pose estimation from partially observed hand–object interaction videos.

aidilayce

Follow My Hold

Hand–object reconstruction from video using geometric guidance.

jeffsonyu

ViTaM-D

Dynamic hand–object reconstruction using a distributed, force-aware contact representation.

BeingBeyond

TTP / H-Tac pretraining

Human-centric tactile pretraining and downstream dexterous manipulation learning.

ada-grasp-ctrl

CoorGrasp

Coordinated contact control for adapting a dexterous grasp under uncertainty.

ZhuoyangLiu2005

T-Rex

Tactile-reactive dexterous manipulation that uses touch to respond during task execution.

cypypccpy

ObjDex

Object-centric dexterous manipulation policies learned from human interaction motion.

Hly-123

FunGrasp

Functional grasping research for multiple dexterous hand designs.

GaTech-RL2

EgoVerse

Tools for processing, accessing and learning from egocentric human data for robot learning.

taeyunwoo

DexHOI2Sim

Physics-based evaluation of reconstructed or generated human hand–object interactions.

Farama-Foundation

D4RL / Adroit legacy benchmarks

Historical offline reinforcement-learning benchmarks, including Adroit dexterous-hand tasks.

haosulab

SAPIEN

A physics and rendering platform for articulated-object interaction and robotic manipulation.

nvidia-isaac

NVIDIA Video to Data

A pipeline connecting human video reconstruction with simulation assets and robot-training data.

open-dynamic-robot-initiative

TriFinger Simulation

Official simulation environments and models for the TriFinger robot family.

YuyangLee

TacThru

Combined tactile and visual perception for learning contact-rich manipulation.

armlabstanford

DenseTact reconstruction assets

Geometry and index files used to train shape reconstruction for the DenseTact optical tactile sensor.

facebookresearch

DIGIT sensor design

Manufacturing documentation and design files for the DIGIT vision-based tactile sensor.

AureleoPKU

DeCAL

A dexterous vision-language-action model combining contact-aware multimodal prediction and action generation.

LogosRoboticsGroup

TacPAC

Tactile prediction and execution-time action correction for contact-rich robot manipulation.

real-stanford

UMI-FT

A handheld interface and learning workflow for recording forceful manipulation without using a robot during capture.

gist-ailab

ManipForce

Force-guided policy learning with frequency-aware representations for contact-rich manipulation.

kushal2000

Play2Perfect

Dexterous play pretraining followed by task-specific fine-tuning for precise assembly.

tonyzhaozh

ACT / Action Chunking with Transformers

An imitation-learning implementation that predicts chunks of robot actions from demonstrations.

real-stanford

Diffusion Policy

A visuomotor policy-learning framework that generates action sequences through diffusion.

Robbyant

LingBot-VLA 2.0

A vision-language-action release with an action representation that includes dexterous hands and other robot subsystems.

physical-superintelligence-lab

HumDex

A humanoid dexterous manipulation stack combining teleoperation, data collection and policy learning.

SimarKareer

EgoMimic

Joint learning from egocentric human video and teleoperated robot data.

airoa-org

YUBI interface software

Operator-side software for a two-handed manipulation-data collection interface.

wangwen-banban

EMPIRE

Egocentric hand-motion forecasting with an explicit representation of the manipulation plan.

facebookresearch

GeoRT

Neural geometric retargeting for mapping human motion onto robotic hands.

neuroagents-lab

Tactile Genesis

A self-contained simulation snapshot for studying tactile sensors in dexterous task learning.

EDEM-AI

RoboSynChallenge

A dexterous manipulation benchmark connecting synthesized skills, training data and evaluation.

CEA-LIST

CoToGrasp

Contact-topology-conditioned grasp synthesis using a canonical workspace representation.

CEA-LIST

GOAG

A generative, object-agnostic planner for dexterous robot grasps.

TEA-Lab

DOGlove

A haptic force-feedback glove with hardware documentation, calibration and teleoperation scripts.

wengmister

BiDexHand

A biomimetic research hand with cable-and-pulley mechanisms, build instructions and control examples.

wayrise

DexGarmentLab

A dexterous garment-manipulation environment with demonstration generation and policy-learning resources.

open-dynamic-robot-initiative

TriFinger robot_fingers

Official drivers, examples and basic utilities for the TriFinger robot family.

NYU-robot-learning

DIME / Dexterous Imitation Made Easy

A demonstration-collection and imitation-learning system for dexterous hand–arm manipulation.

srl-ethz

Faive Gym

Isaac Gym environments and training tools for the Faive hand.

raunaqbhirangi

D’Manus interfacing library

Control and data-collection interfaces for the D’Manus hand with tactile sensing over the fingers and palm.

InternRobotics

TAG tactile-feedback glove

A glove combining motion capture and tactile feedback for dexterous teleoperation.

Taccel-Simulator

Taccel

A GPU simulator for vision-based tactile sensing and contact-rich robotics experiments.

midea-ai

DexVLA

A vision-language model with a diffusion-policy component for visuomotor robot learning.

facebookresearch

Digit Plexus

Hardware and software resources for combining tactile sensors and robot-hand control on a shared interface.

raunaqbhirangi

ReSkin sensor library

Python interfaces, firmware and supporting resources for collecting ReSkin magnetic tactile measurements.

junha-l

DextER

Language-conditioned dexterous grasp generation evaluated on instruction and grasp-taxonomy benchmarks.

facebookresearch

NeuralFeels

Object perception during in-hand manipulation using neural fields and combined vision and touch.

Farama-Foundation

Minari

Tools for storing, sharing and using offline reinforcement-learning datasets.