DexGraspBench

PKU / BODex team

A MuJoCo benchmark for comparing open-loop grasp poses and trajectories using explicit simulation metrics.

What you can explore

Compare grasp synthesis methods under a common task setup, including lifting and contact checks.

Before you use it

Simulation success and analytic metrics are distinct from real-hand reliability. The original baseline branch differs from current code. A reuse license was not identified in the checked root files.

Original contributors

Jiayi Chen, Yubin Ke and He Wang

License / access: Reuse terms unverified · benchmark assets retain their own licenses

Original code & documentation

Editorial reference · checked 2026-09-22