DexScrew

x-robotics-lab

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

What you can explore

Inspect the simulation training and documented XHand deployment and fine-tuning pipeline.

Before you use it

Real deployment requires tactile sensing and task-specific data. Simulation rotation success alone does not establish reliable tool use.

Original contributors

Elvis Hsieh, Wen-Han Hsieh, Yen-Jen Wang, Toru Lin, Jitendra Malik, Koushil Sreenath and Haozhi Qi

License / access: Check the original software license and third-party data/model terms

Original code & documentation

Editorial reference · checked 2026-09-22