Dexterous Grasping on YCB (Seen Hands)
92Allegro ScoreDexGrasp-Zero
Evaluation Results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| DexGrasp-ZeroVariant=w/o Mactivation&rpen2026.03 | 92 | 91 | 90 | 81 | 88.5 | |
| DexGrasp-ZeroVariant=full model2026.03 | 92 | 95 | 90 | 91 | 92 | |
| DexGrasp-ZeroVariant=w/o Gphysical priors2026.03 | 91 | 89 | 90 | 84 | 88.5 | |
| CrossDexVariant=per-object2026.03 | 81 | 85 | 90 | 90 | 86.5 | |
| DexGrasp-ZeroVariant=w/o motion primitives2026.03 | 52 | 51 | 64 | 59 | 56.5 | |
| DexGrasp-ZeroVariant=early fusion2026.03 | 42 | 47 | 59 | 54 | 50.5 | |
| CrossDexVariant=multi-object2026.03 | 39 | 69 | 42 | 60 | 52.5 |