UniDexGrasp

Official code for "UniDexGrasp: Universal Robotic Dexterous Grasping via Learning Diverse Proposal Generation and Goal-Conditioned Policy" (CVPR 2023)

Project Page | Paper

Diverse Proposal Generation for Dexterous Grasping

Please see README in dexgrasp_generation folder.

Execution Policy Learning for Dexterous Grasping

Please see README in dexgrasp_policy folder.

Citation

@article{xu2023unidexgrasp,
  title={UniDexGrasp: Universal Robotic Dexterous Grasping via Learning Diverse Proposal Generation and Goal-Conditioned Policy},
  author={Xu, Yinzhen and Wan, Weikang and Zhang, Jialiang and Liu, Haoran and Shan, Zikang and Shen, Hao and Wang, Ruicheng and Geng, Haoran and Weng, Yijia and Chen, Jiayi and others},
  journal={arXiv preprint arXiv:2303.00938},
  year={2023}
}

License

This work and the dataset are licensed under CC BY-NC 4.0.