Cross-Embodiment Dexterous Grasp Generation on MultiDex
93Success Rate (Barrett)UniMorphGrasp
Evaluation Results
| Method | Links | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| UniMorphGraspMorphology-aware loss (Lm)=true2026.01 | 93 | 90.3 | 98.8 | 94 | 0.698 | 0.462 | 0.445 | 0.535 | 0.47 | |
| UniMorphGraspMorphology-aware loss (Lm)=false2026.01 | 92.5 | 89.6 | 95 | 92.4 | 0.696 | 0.434 | 0.451 | 0.527 | 0.47 | |
| DRO-Grasp2026.01 | 87.3 | 92.3 | 83 | 87.5 | 0.513 | 0.397 | 0.441 | 0.45 | 0.65 | |
| DFC2026.01 | 86.3 | 76.2 | 58.8 | 73.8 | 0.532 | 0.454 | 0.435 | 0.474 | — | |
| GeoMatch++2026.01 | 77.5 | — | 70 | 73.8 | 0.378 | — | 0.184 | 0.281 | — | |
| GenDexGrasp2026.01 | 67 | 51 | 54.2 | 57.4 | 0.488 | 0.389 | 0.318 | 0.398 | 19.7 | |
| GeoMatch2026.01 | 60 | — | 67.5 | 63.8 | 0.259 | — | 0.235 | 0.247 | — |