Dexterous Grasping on YCB (Unseen Hands)
93LEAP ScoreDexGrasp-Zero
Evaluation Results
| Method | Links | |||
|---|---|---|---|---|
| DexGrasp-ZeroVariant=full model2026.03 | 93 | 82 | 85 | |
| DexGrasp-ZeroVariant=w/o Gphysical priors2026.03 | 82 | 79 | 80.5 | |
| DexGrasp-ZeroVariant=w/o Mactivation&rpen2026.03 | 50 | 76 | 63 | |
| DexGrasp-ZeroVariant=early fusion2026.03 | 46 | 34 | 40 | |
| DexGrasp-ZeroVariant=w/o motion primitives2026.03 | 39 | 29 | 34 | |
| CrossDexVariant=per-object2026.03 | 34 | 44 | 39 | |
| CrossDexVariant=multi-object2026.03 | 19 | 34 | 26.5 |