mlsanityData to 14 Oct 2026

LEAP Hand: Low-Cost, Efficient, and Anthropomorphic Hand for Robot Learning

arXiv 2309.06440 ↗First posted 12 Sep 2023cs.RO cs.AI cs.CVcited by 79

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Abstract (arXiv)

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. This can be mostly attributed to the lack of suitable hardware. In this paper, we present LEAP Hand, a low-cost dexterous and anthropomorphic hand for machine learning research. In contrast to previous hands, LEAP Hand has a novel kinematic structure that allows maximal dexterity regardless of finger pose. LEAP Hand is low-cost and can be assembled in 4 hours at a cost of 2000 USD from readily available parts. It is capable of consistently exerting large torques over long durations of time. We show that LEAP Hand can be used to perform several manipulation tasks in the real world -- from visual teleoperation to learning from passive video data and sim2real. LEAP Hand significantly outperforms its closest competitor Allegro Hand in all our experiments while being 1/8th of the cost. We release detailed assembly instructions, the Sim2Real pipeline and a development platform with useful APIs on our website at https://leap-hand.github.io/

Key facts. Cited by 79 papers in the map (data through 14 Oct 2026). Builds on 38 of its 72 references that are in the map. First posted on arXiv 12 Sep 2023.

Builds on

38 of 72 references.

References · 38

  1. 2017Proximal Policy Optimization Algorithmscited by 15,215
  2. 2014Empirical Evaluation of Gated Recurrent Neural Networks on Sequence Modelingcited by 2,367
  3. 2021Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learningcited by 998
  4. 2017End-to-end Recovery of Human Shape and Posecited by 885
  5. 2018Scaling Egocentric Vision: The EPIC-KITCHENS Datasetcited by 795
  6. 2019Solving Rubik's Cube with a Robot Handcited by 734
  7. 2017Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrationscited by 715
  8. 2018Learning Dexterous In-Hand Manipulationcited by 687
  9. 2020AWAC: Accelerating Online Reinforcement Learning with Offline Datasetscited by 671
  10. 2021RMA: Rapid Motor Adaptation for Legged Robotscited by 508
  11. 2022Learning robust perceptive locomotion for quadrupedal robots in the wildcited by 382
  12. 2021Contact-GraspNet: Efficient 6-DoF Grasp Generation in Cluttered Scenescited by 218
26 more
  1. 2019Deep Dynamics Models for Learning Dexterous Manipulationcited by 206
  2. 2021DexMV: Imitation Learning for Dexterous Manipulation from Human Videoscited by 206
  3. 2021FrankMocap: A Monocular 3D Whole-Body Pose Estimation System via Regression and Integrationcited by 169
  4. 2021A System for General In-Hand Object Re-Orientationcited by 165
  5. 2022Human-to-Robot Imitation in the Wildcited by 161
  6. 2021The Surprising Effectiveness of Representation Learning for Visual Imitationcited by 154
  7. 2022Legged Locomotion in Challenging Terrains using Egocentric Visioncited by 151
  8. 2022DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Realitycited by 149
  9. 2021Collaborative Regression of Expressive Bodies using Moderationcited by 137
  10. 2022In-Hand Object Rotation via Rapid Motor Adaptationcited by 118
  11. 2019DexPilot: Vision Based Teleoperation of Dexterous Robotic Hand-Arm Systemcited by 114
  12. 2022VideoDex: Learning Dexterity from Internet Videoscited by 106
  13. 2022Visual Dexterity: In-Hand Reorientation of Novel and Complex Object Shapescited by 101
  14. 2021Reset-Free Reinforcement Learning via Multi-Task Learning: Learning Dexterous Manipulation Behaviors without Human Interventioncited by 95
  15. 2022DexVIP: Learning Dexterous Grasping with Human Hand Pose Priors from Videocited by 89
  16. 2022Robotic Telekinesis: Learning a Robotic Hand Imitator by Watching Humans on Youtubecited by 82
  17. 2022From One Hand to Multiple Hands: Imitation Learning for Dexterous Manipulation from Single-Camera Teleoperationcited by 82
  18. 2022Dexterous Imitation Made Easy: A Learning-Based Framework for Efficient Dexterous Manipulationcited by 78
  19. 2020Neural Dynamic Policies for End-to-End Sensorimotor Learningcited by 58
  20. 2021Generalization in Dexterous Manipulation via Geometry-Aware Multi-Task Learningcited by 50
  21. 2021STORM: An Integrated Framework for Fast Joint-Space Model-Predictive Control for Reactive Manipulationcited by 47
  22. 2022Complex In-Hand Manipulation via Compliance-Enabled Finger Gaiting and Multi-Modal Planningcited by 26
  23. 2022RB2: Robotic Manipulation Benchmarking with a Twistcited by 23
  24. 2022Learning Purely Tactile In-Hand Manipulation with a Torque-Controlled Handcited by 20
  25. 2018Relaxed-Rigidity Constraints: Kinematic Trajectory Optimization and Collision Avoidance for In-Grasp Manipulationcited by 11
  26. 2021Towards Very Low-Cost Iterative Prototyping for Fully Printable Dexterous Soft Robotic Handscited by 1

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2023: 3; 2024: 21; 2025: 32; 2026: 23.

79 papers.

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  1. 2024OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learningcited by 189
  2. 2024DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulationcited by 160
  3. 2023Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysiscited by 103
  4. 2025Vision-Language-Action Models for Robotics: A Review Towards Real-World Applicationscited by 84
  5. 2024DrEureka: Language Model Guided Sim-To-Real Transfercited by 83
  6. 2024Code-as-Monitor: Constraint-aware Visual Programming for Reactive and Proactive Robotic Failure Detectioncited by 63
  7. 2023Robot Synesthesia: In-Hand Manipulation with Visuotactile Sensingcited by 56
  8. 2025SoFar: Language-Grounded Orientation Bridges Spatial Reasoning and Object Manipulationcited by 46
  9. 2024HRP: Human Affordances for Robotic Pre-Trainingcited by 44
  10. 2024DexGraspNet 2.0: Learning Generative Dexterous Grasping in Large-scale Synthetic Cluttered Scenescited by 44
  11. 2024Learning to Manipulate Anywhere: A Visual Generalizable Framework For Reinforcement Learningcited by 41
  12. 2023Dexterous Functional Graspingcited by 39
38 more
  1. 2025DexWild: Dexterous Human Interactions for In-the-Wild Robot Policiescited by 38
  2. 2025Crossing the Human-Robot Embodiment Gap with Sim-to-Real RL using One Human Demonstrationcited by 34
  3. 2025BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activitiescited by 31
  4. 2024Bridging the Human to Robot Dexterity Gap through Object-Oriented Rewardscited by 28
  5. 2024Cross-Embodiment Dexterous Grasping with Reinforcement Learningcited by 27
  6. 2024Lessons from Learning to Spin "Pens"cited by 26
  7. 2025RoboCopilot: Human-in-the-loop Interactive Imitation Learning for Robot Manipulationcited by 26
  8. 2024Bimanual Dexterity for Complex Taskscited by 25
  9. 2025Dexterous Manipulation through Imitation Learning: A Surveycited by 21
  10. 2025DEXOP: A Device for Robotic Transfer of Dexterous Human Manipulationcited by 19
  11. 2025Dexterity from Smart Lenses: Multi-Fingered Robot Manipulation with In-the-Wild Human Demonstrationscited by 19
  12. 2025CordViP: Correspondence-based Visuomotor Policy for Dexterous Manipulation in Real-Worldcited by 18
  13. 2025AirExo-2: Scaling up Generalizable Robotic Imitation Learning with Low-Cost Exoskeletonscited by 18
  14. 2025DexTrack: Towards Generalizable Neural Tracking Control for Dexterous Manipulation from Human Referencescited by 17
  15. 2024Learning Diverse Bimanual Dexterous Manipulation Skills from Human Demonstrationscited by 15
  16. 2025Geometric Retargeting: A Principled, Ultrafast Neural Hand Retargeting Algorithmcited by 14
  17. 2026Dex4D: Task-Agnostic Point Track Policy for Zero-Shot Dexterous Manipulationcited by 14
  18. 2024Learning by Watching: A Review of Video-based Learning Approaches for Robot Manipulationcited by 11
  19. 2024ContactDexNet: Multi-fingered Robotic Hand Grasping in Cluttered Environments through Hand-object Contact Semantic Mappingcited by 11
  20. 2024ManiFoundation Model for General-Purpose Robotic Manipulation of Contact Synthesis with Arbitrary Objects and Robotscited by 11
  21. 2024DemoStart: Demonstration-led auto-curriculum applied to sim-to-real with multi-fingered robotscited by 11
  22. 2025Web2Grasp: Learning Functional Grasps from Web Images of Hand-Object Interactionscited by 11
  23. 2024Controlling diverse robots by inferring Jacobian fields with deep networkscited by 10
  24. 2024Efficient Residual Learning with Mixture-of-Experts for Universal Dexterous Graspingcited by 10
  25. 2024Vegetable Peeling: A Case Study in Constrained Dexterous Manipulationcited by 9
  26. 2025CEDex: Cross-Embodiment Dexterous Grasp Generation at Scale from Human-like Contact Representationscited by 9
  27. 2025DexNDM: Closing the Reality Gap for Dexterous In-Hand Rotation via Joint-Wise Neural Dynamics Modelcited by 9
  28. 2025RUKA: Rethinking the Design of Humanoid Hands with Learningcited by 8
  29. 2026ContactGaussian-WM: Learning Physics-Grounded World Model from Videoscited by 7
  30. 2025House of Dextra: Cross-embodied Co-design for Dexterous Handscited by 5
  31. 2025GR-Dexter Technical Reportcited by 5
  32. 2026LUCID: Learning Embodiment-Agnostic Intent Models from Unstructured Human Videos for Scalable Dexterous Robot Skill Acquisitioncited by 5
  33. 2026Human Universal Graspingcited by 5
  34. 2024D-Cubed: Latent Diffusion Trajectory Optimisation for Dexterous Deformable Manipulationcited by 4
  35. 2024RP1M: A Large-Scale Motion Dataset for Piano Playing with Bi-Manual Dexterous Robot Handscited by 4
  36. 2025Interactive Imitation Learning for Dexterous Robotic Manipulation: Challenges and Perspectives -- A Surveycited by 4
  37. 2025LodeStar: Long-horizon Dexterity via Synthetic Data Augmentation from Human Demonstrationscited by 4
  38. 2026A Minimalist Retargeting-Guided Reinforcement Learning Recipe for Dexterous Manipulationcited by 4

50 most cited of 79 All 79 (JSON)