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cenwerem/
equidexflow-allegro-pose-only

pytorch

robotics

dexterous-manipulation

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EquiDexFlow — Allegro Hand (PoseOnly Ablation Variant)

SE(3)-equivariant flow-matching model for dexterous grasp generation. The checkpoint and config file in this repo are for the PoseOnly ablation variant of EquiDexFlow.

Load the checkpoint with hf_hub_download and torch.load (see snippet below).

Usage

python

from huggingface_hub import hf_hub_download
import torch
from equidexflow.models import get_dex_model

model = get_dex_model(hand="allegro")
path = hf_hub_download("cenwerem/equidexflow-allegro-pose-only", "checkpoint_best.pt")
ckpt = torch.load(path, map_location="cpu", weights_only=False)
model.load_state_dict(ckpt["model"])
# ckpt also carries: "epoch", "optimizer", "best_val_loss"

Citation

If you find this model useful in your work, please cite us using the following BiBTeX entry:

bibtex

@article{enwerem_equidexflow_2026,
  author = {Enwerem, Clinton and Baras, John S. and Belta, Calin},
  title  = {{EquiDexFlow}: Contact-Grounded {SE}(3)-Equivariant Dexterous Grasp Generative Flows},
  year   = {2026},
  doi = {10.48550/arXiv.2606.12728},
  number = {{arXiv}:2606.12728},
  publisher = {{arXiv}},
  date = {2026-06-10},
  eprinttype = {arxiv},
  eprint = {2606.12728 [cs.RO]},
  shorttitle = {{EquiDexFlow}},
  url = {http://arxiv.org/abs/2606.12728}
}