RobustDexGrasp

RobustDexGrasp research team

Teacher and student policies for grasping unfamiliar objects using an Allegro hand and UR5 platform.

What you can explore

Compare privileged simulation training with the student policy’s perception inputs.

Before you use it

The release describes Allegro + UR5, RaiSim activation and specific software versions. Hardware use requires the documented perception and control stack; results are not evidence of universal hand compatibility.

Original contributors

Hui Zhang, Zijian Wu, Linyi Huang, Sammy Christen and Jie Song

License / access: Work and dataset: CC BY-NC 4.0 · simulator terms apply separately

Original code & documentation

Editorial reference · checked 2026-09-22