Complementarity-Free Dexterous Manipulation
ASU IRIS Lab
Contact modeling and optimization code for model-based dexterous manipulation, including fingertip, TriFinger and Allegro examples.
What you can explore
Explore an optimization-based alternative to learned policies for contact-rich manipulation.
Before you use it
Reported task metrics belong to the paper’s setup. Source access was verified, but no reuse license was identified in the checked root files; confirm permission before reuse.
Original contributors
Wanxin Jin
License / access: Reuse terms unverified · ask the authors
Editorial reference · checked 2026-09-22