DexTrack

Meowuu7

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

What you can explore

Inspect the reference-motion processing and Allegro or LEAP-with-Franka training configurations.

Before you use it

Requires the documented legacy Isaac Gym environment and separately obtained motion assets. Tracking performance depends on the chosen embodiment and reference quality.

Original contributors

Xueyi Liu, Jianibieke Adalibieke, Qianwei Han, Yuzhe Qin and Li Yi

License / access: Code: BSD 3-Clause · GRAB, TACO and other assets retain their own terms

Original code & documentation

Editorial reference · checked 2026-09-22