UniDexGrasp++

PKU-EPIC

A generalist-and-specialist training approach for dexterous grasping across object geometries.

What you can explore

Compare the geometry-aware curriculum, state-based policies and the released grasping evaluation setup.

Before you use it

Uses legacy Isaac Gym and separate object assets. The README and top-level license file differ; clarify permissions before reuse.

Original contributors

UniDexGrasp++ authors and repository contributors

License / access: License conflict: README specifies CC BY-NC 4.0 for work and data; repository LICENSE says MIT. Confirm scope with authors.

Original code & documentation

Editorial reference · checked 2026-09-22