Dexterous Grasping on object-task configurations Held-out
86.4Force Closure (FC)SynManDex
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| SynManDexArtifact=trajectory, Bimanual=yes2026.06 | 86.4 | 0.6 | 78.9 | 65.8 | — | |
| SynManDex-UniPrior / seed=human prior + FC2026.06 | 86.4 | — | — | 72.9 | 81.7 | |
| BODexArtifact=pose, Bimanual=no2026.06 | 74.6 | 1.4 | 63.5 | 45.7 | — | |
| BODex-XHandPrior / seed=optimization2026.06 | 71.4 | — | — | 39.6 | 45 | |
| UltraDexGraspArtifact=trajectory, Bimanual=yes2026.06 | 70.8 | 1.9 | 62.1 | 58.6 | — | |
| DexGraspNetArtifact=pose, Bimanual=no2026.06 | 54.8 | 3.4 | 46.2 | 33.9 | — | |
| Dexonomy-XHandArtifact=pose, Bimanual=no2026.06 | 42.5 | 4.7 | 36.8 | 28.3 | — | |
| Dexonomy-XHandPrior / seed=taxonomy2026.06 | 42.5 | — | — | 28.3 | 76.8 | |
| GeoRT-XHandPrior / seed=geometric kpts.2026.06 | 38.9 | — | — | 24.7 | 68.2 | |
| DexMV-style retargetingPrior / seed=MANO pose2026.06 | 12.3 | — | — | 8.1 | 72.5 |