JiayiChenPKU/BODex_lfs

BODex A GPU-based efficient pipeline for dexterous grasp synthesis built on cuRobo, proposed in [ICRA 2025] BODex: Scalable and Efficient Robotic Dexterous Grasp Synthesis Using Bilevel Optimization. Project page ｜ Paper ｜ Dataset ｜ Benchmark code ｜ Learning code Introduction Main Features Grasp Synthesis: Generate force-closure grasps for floating dexterous hands, such as the Shadow, Allegro, and Leap Hand. Trajectory Planning: Plan collision-free… See the full description on the dataset page: https://huggingface.co/datasets/JiayiChenPKU/BODex_lfs.

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