BODex
PKU-EPIC / BODex research team
GPU-based dexterous grasp synthesis and approach-trajectory planning using bilevel optimization.
What you can explore
Explore the documented Shadow, Allegro and LEAP configurations and grasp-generation pipeline.
Before you use it
Built on cuRobo with specific GPU dependencies. The authors recommend the newer Dexonomy follow-up for new grasp-generation work.
Original contributors
Jiayi Chen, Yubin Ke and He Wang
License / access: CC BY-NC 4.0 · included cuRobo code uses the NVIDIA license
Editorial reference · checked 2026-09-22