Dexterous Grasp Generation on Objaverse
5.1Diversity (Avg)BiDexGrasp (TableTop)
Evaluation results
| Method | Links | ||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| BiDexGrasp (TableTop)Object placement setting=TableTop2026.04 | 5.1 | — | — | — | 62.4 | — | — | — | 62.41 | 70.41 | 0.2 | 0.05 | 0.67 | 0.158 | |
| BiDexGrasp (Float)Object placement setting=Float2026.04 | 4.55 | — | — | — | — | — | — | — | 70.82 | — | 0.2 | 0.04 | 0.67 | 0.18 | |
| UniMorphGraspEvaluation Mode=Zero-shot, Training Dataset=MultiDex2026.01 | 0.541 | 89.9 | 91.1 | 92.9 | 91.3 | 0.728 | 0.451 | 0.448 | — | — | — | — | — | — | |
| GenDexGraspEvaluation Mode=Zero-shot, Training Dataset=MultiDex2026.01 | 0.477 | 57.9 | 42 | 63.9 | 54.6 | 0.597 | 0.436 | 0.398 | — | — | — | — | — | — | |
| DRO-GraspEvaluation Mode=Zero-shot, Training Dataset=MultiDex2026.01 | 0.453 | 82.2 | 82.9 | 70.3 | 78.5 | 0.517 | 0.396 | 0.445 | — | — | — | — | — | — | |
| BimanGrasp2026.04 | 0.16 | — | — | — | — | — | — | — | 30.21 | — | 0.87 | 0.23 | 1.38 | 0.156 |