It’s all in the hands - 2026-05-17 - Article - Recent dexterous-hand developments cover production scale, new hardware, learned control and data collection for contact-rich manipulation.
Research
HandsOn: A Large-Scale Simulation Benchmark for Generalizable Dexterous Manipulation - 2026-10-19 - Research Publication - HandsOn provides 66 dexterous-manipulation simulation tasks with 18,000 demonstrations. Its quantitative evaluations use a ROKAE AR5-08 and first-generation Wuji hands, with qualitative transfer to physical hardware. - source: arxiv.org
Gen2Dex: Learning Dexterous Manipulation from Simulation-Initialized Generated Video Demonstrations - 2026-10-17 - Research Publication - Gen 2Dex turns generated manipulation videos into executable dexterous trajectories using known simulated geometry, hand-object tracking and residual reinforcement learning. A backward curriculum corrects imperfect motion… - source: arxiv.org
Wuji-MJLab: Cube Reorientation and Pen Spinning - 2026-09-27 - Research Publication - Cube reorientation supports both Wuji hand generations with separate hardware and checkpoint configurations. Reference-tracking pen spinning targets Wuji Hand 2 and transfers learned policies to the physical hand. The… - source: github.com
Fingers as Legs: Learning Self-Supported Locomotion and Manipulation with an Anthropomorphic Hand - 2026-09-15 - Research Publication - ETH Zurich researchers use an off-the-shelf WUJI HAND for untethered crawling, steering, fall recovery, keyboard input and object pushing. - source: arxiv.org
CoorDex: Coordinating Body and Hand Priors for Continuous Dexterous Humanoid Loco-Manipulation - 2026-06-22 - Research Publication - CoorDex coordinates body and hand priors for simulated continuous humanoid loco-manipulation. Quantitative task evaluation uses G1 with WUJI hands in Isaac Lab; separate physical G1 with Dex3-1 visualizations replay… - source: arxiv.org
TopoRetarget: Interaction-Preserving Retargeting for Dexterous Manipulation - 2026-06-15 - Research Publication - The authors introduce TopoRetarget, an interaction-preserving retargeting framework that uses a single set of parameters across diverse retargeting conditions while maintaining task-relevant hand-object interaction and… - source: arxiv.org
Human Universal Grasping - 2026-06-15 - Research Publication - Introduces HUG, a flow-matching model that predicts diverse human grasps from a single RGB-D image. - source: grasping.io
Kilohertz-Safe: A Scalable Framework for Constrained Dexterous Retargeting - 2026-03-31 - Research Publication - This paper proposes a scalable motion retargeting framework that reformulates the nonlinear retargeting problem into a convex quadratic program in joint differential space. - source: arxiv.org