This dataset supports generalizable dexterous grasping with suitable grasp types, a fundamental skill for intelligent robots. It presents an efficient pipeline capable of synthesizing contact-rich, penetration-free, and physically plausible dexterous grasps for any grasp type, object, and articulated hand, starting from just one human-annotated template per hand and… See the full description on the dataset page:
https://huggingface.co/datasets/JiayiChenPKU/Dexonomy.
