MoDex evaluates sequential multi-object dexterous grasping on Allegro Hand hardware - 2026-06-03 - Research Publication - MoDex introduces a diffusion-policy approach for sequentially grasping multiple objects with a single dexterous hand. The authors evaluate the method in simulation on a Franka Emika Panda robot with an Allegro Hand and run… - source: arxiv.org
Video-model policy paper includes Allegro Hand dexterous cube reorientation benchmarks - 2026-05-27 - Research Publication - The paper studies turning video generative models into generalist robot policies across simulated and real robot settings. Its evaluation includes 16-DOF Allegro-hand dexterous cube reorientation benchmarks. - source: arxiv.org
SafePBDS demonstrates safe geometric motion policies on a Franka Panda–Allegro platform - 2026-05-20 - Research Publication - SafePBDS proposes steerable geometric motion policies for dexterous manipulation with safety constraints. The paper reports hardware experiments on a 23-DOF Franka Emika Panda arm and Wonik Allegro 16-DOF dexterous hand… - source: arxiv.org
SECOND-Grasp reports transfer results for Allegro Hand dexterous grasping - 2026-05-13 - Research Publication - SECOND-Grasp introduces semantic contact-guided dexterous grasping for physically stable and task-aware grasps. The paper reports transfer results on Allegro Hand alongside other robotic-hand embodiments. Allegro Hand… - source: arxiv.org
DexFormer studies cross-embodied dexterous manipulation transfer to Allegro Hand - 2026-02-09 - Research Publication - DexFormer introduces a history-conditioned transformer for cross-embodied dexterous manipulation. The paper evaluates zero-shot transfer across hand embodiments including LEAP Hand, Allegro Hand and Rapid Hand. - source: arxiv.org
ISyHand: A Dexterous Multi-finger Robot Hand with an Articulated Palm - 2025-09-30 - Research Publication - The rapid increase in the development of humanoid robots and customized manufacturing solutions has brought dexterous manipulation to the forefront of modern robotics. The work is explicitly tied to Allegro Hand V5 Plus… - source: arxiv.org
GD2P paper reports nonprehensile pushing and pulling experiments with Allegro Hand - 2025-09-22 - Research Publication - The GD2P paper studies geometry-aware nonprehensile pushing and pulling with high-DOF dexterous hands. The authors report real-world experiments with Allegro Hand and LEAP Hand embodiments. This is external product-use… - source: arxiv.org
LEAP Hand: Low-Cost, Efficient, and Anthropomorphic Hand for Robot Learning - 2023-09-12 - Research Publication - Dexterous manipulation has been a long-standing challenge in robotics. While machine learning techniques have shown some promise, results have largely been currently limited to simulation. The work is explicitly tied to… - source: arxiv.org