SimToolReal
Stanford / SimToolReal team
Object-centered policy learning for manipulating tools with dexterous hands. Includes simulation environments, the DexToolBench task setup and deployment guidance.
What you can explore
Explore hammering, writing, brushing and other tool tasks using the documented object-centered representations.
Before you use it
The Isaac Sim and legacy Isaac Gym setups use different environments. Pretrained policies, benchmark assets, perception and robot integration are separate dependencies; we have not reproduced the results.
Original contributors
Kushal Kedia, Tyler Ga Wei Lum, Jeannette Bohg and C. Karen Liu
License / access: Code: MIT · check models, object assets and dependencies separately
Editorial reference · checked 2026-09-22