This is a library that provides dual dexterous hand manipulation tasks through Isaac Gym

[IROS 2024] Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation. [CoRL 2024] OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning

HOPEJr_open-source_DIY_Humanoid_Robot_with_dexterous_hands

[CoRL '23] Dexterous piano playing with deep reinforcement learning.

The unitree_il_lerobot open-source project is a modification of the LeRobot open-source training framework, enabling the training and testing of data collected using the dual-arm dexterous hands of Unitree's G1 robot.

[AAAI'26 Oral] DexGraspVLA: A Vision-Language-Action Framework Towards General Dexterous Grasping

[RSS 2024] "DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulation" code repository

Bimanual Dexterous Teleoperation with Real-Time Retargeting using VisionPro

[RSS 2025] AMO: Adaptive Motion Optimization for Hyper-Dexterous Humanoid Whole-Body Control

Repository to accompany RSS 2018 paper on dexterous hand manipulation

[CVPR 2025] 🎉 Official repository of "ManipTrans: Efficient Dexterous Bimanual Manipulation Transfer via Residual Learning"

A Lightweight Learning Framework for Dexterous Manipulation

Official code repository of paper "D(R, O) Grasp: A Unified Representation of Robot and Object Interaction for Cross-Embodiment Dexterous Grasping"

Official code for "UniDexGrasp: Universal Robotic Dexterous Grasping via Learning Diverse Proposal Generation and Goal-Conditioned Policy" (CVPR 2023)

This is a repository for GraspXL, which can generate objective-drive grasping motions for 500k+ objects with different dexterous hands.

A hot reload system for the Bevy game engine

Open source release of biomimetic dexterous robotic hand, BiDexHand

CVPR 2025(Highlight) DexGraspAnything: Towards Universal Robotic Dexterous Grasping with Physics Awareness

Codebase for DexMachina: Functional Retargeting for Bimanual Dexterous Manipulation

EgoDex: Learning Dexterous Manipulation from Large-Scale Egocentric Video

UniDexGrasp++: Improving Dexterous Grasping Policy Learning via Geometry-aware Curriculum and Iterative Generalist-Specialist Learning

DexUMI: Using Human Hand as the Universal Manipulation Interface for Dexterous Manipulation

DexMV: Imitation Learning for Dexterous Manipulation from Human Videos, ECCV 2022

Code Repository for GenDexGrasp: Generalizing Dexterous Grasping across Robotic Hands via Contact Map Matching

"Sequential Dexterity: Chaining Dexterous Policies for Long-Horizon Manipulation" code repository

Official implementation of SimToolReal: An Object-Centric Policy for Zero-Shot Dexterous Tool Manipulation

From One Hand to Multiple Hands: Imitation Learning for Dexterous Manipulation from Single-Camera Teleoperation, RA-L IROS 2022

This is a repository for RobustDexGrasp, which achieves robust dexterous grasping of 500+ unseen objects with random poses from single-view perception.

DexArt: Benchmarking Generalizable Dexterous Manipulation with Articulated Objects, CVPR 2023

[NeurIPS 2025 Spotlight 🎊] DexGarmentLab: Dexterous Garment Manipulation Environment with Generalizable Policy