CoRL2025 – RobustDexGrasp: dexterous robot hand grasping of nearly any object

As you read this, it's holding your phone or clicking your mouse with seemingly effortless grace. With over 20 degrees of freedom, human hands possess extraordinary dexterity, which can grip a heavy hammer, rotate a screwdriver, or instantly adjust when something slips. Executing complex tasks like key rotation, scissor use, and surgical procedures that are impossible with simple grippers. Their similarity to human hands makes them ideal for learning from vast human demonstration data. Despite this potential, most current robots still rely on simple "grippers" due to the difficulties of dexterous manipulation.