mlsanityData to 7 Oct 2026

RealDex: Towards Human-like Grasping for Robotic Dexterous Hand

arXiv 2402.13853 ↗First posted 21 Feb 2024cs.RO cs.AI cs.CVcited by 33

Not on the map. Why?

Abstract (arXiv)

In this paper, we introduce RealDex, a pioneering dataset capturing authentic dexterous hand grasping motions infused with human behavioral patterns, enriched by multi-view and multimodal visual data. Utilizing a teleoperation system, we seamlessly synchronize human-robot hand poses in real time. This collection of human-like motions is crucial for training dexterous hands to mimic human movements more naturally and precisely. RealDex holds immense promise in advancing humanoid robot for automated perception, cognition, and manipulation in real-world scenarios. Moreover, we introduce a cutting-edge dexterous grasping motion generation framework, which aligns with human experience and enhances real-world applicability through effectively utilizing Multimodal Large Language Models. Extensive experiments have demonstrated the superior performance of our method on RealDex and other open datasets. The complete dataset and code will be made available upon the publication of this work.

Key facts. Cited by 33 papers in the map (data through 7 Oct 2026). Builds on 29 of its 45 references that are in the map. First posted on arXiv 21 Feb 2024.

Builds on

29 of 45 references.

References · 29

  1. 2017Attention Is All You Needcited by 59,932
  2. 2016PointNet: Deep Learning on Point Sets for 3D Classification and Segmentationcited by 5,223
  3. 2017PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Spacecited by 4,384
  4. 2018Open3D: A Modern Library for 3D Data Processingcited by 717
  5. 2021FCOS3D: Fully Convolutional One-Stage Monocular 3D Object Detectioncited by 444
  6. 2020GRAB: A Dataset of Whole-Body Human Grasping of Objectscited by 397
  7. 2019Learning joint reconstruction of hands and manipulated objectscited by 377
  8. 2021DexYCB: A Benchmark for Capturing Hand Grasping of Objectscited by 320
  9. 2021Synthesis of Compositional Animations from Textual Descriptionscited by 177
  10. 2021Hand-Object Contact Consistency Reasoning for Human Grasps Generationcited by 160
  11. 2021GOAL: Generating 4D Whole-Body Motion for Hand-Object Graspingcited by 142
  12. 2022OakInk: A Large-scale Knowledge Repository for Understanding Hand-Object Interactioncited by 129
17 more
  1. 2022DexGraspNet: A Large-Scale Robotic Dexterous Grasp Dataset for General Objects Based on Simulationcited by 129
  2. 2015Capturing Hands in Action using Discriminative Salient Points and Physics Simulationcited by 115
  3. 2021D-Grasp: Physically Plausible Dynamic Grasp Synthesis for Hand-Object Interactionscited by 109
  4. 2023UniDexGrasp++: Improving Dexterous Grasping Policy Learning via Geometry-aware Curriculum and Iterative Generalist-Specialist Learningcited by 101
  5. 2021SAGA: Stochastic Whole-Body Grasping with Contactcited by 89
  6. 2022DexPoint: Generalizable Point Cloud Reinforcement Learning for Sim-to-Real Dexterous Manipulationcited by 78
  7. 2022GraspNeRF: Multiview-based 6-DoF Grasp Detection for Transparent and Specular Objects Using Generalizable NeRFcited by 64
  8. 2021Cylindrical and Asymmetrical 3D Convolution Networks for LiDAR-based Perceptioncited by 57
  9. 2022TransCG: A Large-Scale Real-World Dataset for Transparent Object Depth Completion and a Grasping Baselinecited by 55
  10. 2021Generalization in Dexterous Manipulation via Geometry-Aware Multi-Task Learningcited by 49
  11. 2022Learning Generalizable Dexterous Manipulation from Human Grasp Affordancecited by 46
  12. 2020Deep Differentiable Grasp Planner for High-DOF Gripperscited by 39
  13. 2021DDGC: Generative Deep Dexterous Grasping in Cluttercited by 28
  14. 2022Learning High-DOF Reaching-and-Grasping via Dynamic Representation of Gripper-Object Interactioncited by 23
  15. 2022Learning Robust Real-World Dexterous Grasping Policies via Implicit Shape Augmentationcited by 21
  16. 2023Human-centric Scene Understanding for 3D Large-scale Scenarioscited by 17
  17. 2022DVGG: Deep Variational Grasp Generation for Dextrous Manipulationcited by 14

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 6; 2025: 12; 2026: 15.

33 papers.

Sort:

By area:

  1. 2024SemGrasp: Semantic Grasp Generation via Language Aligned Discretizationcited by 29
  2. 2025Pack and Force Your Memory: Long-form and Consistent Video Generationcited by 26
  3. 2025DexGrasp Anything: Towards Universal Robotic Dexterous Grasping with Physics Awarenesscited by 25
  4. 2025Dex1B: Learning with 1B Demonstrations for Dexterous Manipulationcited by 23
  5. 2025Dexonomy: Synthesizing All Dexterous Grasp Types in a Grasp Taxonomycited by 19
  6. 2024Multi-GraspLLM: A Multimodal LLM for Multi-Hand Semantic Guided Grasp Generationcited by 12
  7. 2026T-Rex: Tactile-Reactive Dexterous Manipulationcited by 10
  8. 2025FreqPolicy: Frequency Autoregressive Visuomotor Policy with Continuous Tokenscited by 9
  9. 2025CEDex: Cross-Embodiment Dexterous Grasp Generation at Scale from Human-like Contact Representationscited by 9
  10. 2025Why LVLMs Are More Prone to Hallucinations in Longer Responses: The Role of Contextcited by 9
  11. 2026Dexora: Open-source VLA for High-DoF Bimanual Dexteritycited by 9
  12. 2024FastGrasp: Efficient Grasp Synthesis with Diffusioncited by 7
21 more
  1. 2025EvolvingGrasp: Evolutionary Grasp Generation via Efficient Preference Alignmentcited by 6
  2. 2024RP1M: A Large-Scale Motion Dataset for Piano Playing with Bi-Manual Dexterous Robot Handscited by 3
  3. 2025Grasping a Handful: Sequential Multi-Object Dexterous Grasp Generationcited by 3
  4. 2025Contact Map Transfer with Conditional Diffusion Model for Generalizable Dexterous Grasp Generationcited by 3
  5. 2024Bimanual Grasp Synthesis for Dexterous Robot Handscited by 2
  6. 2026HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodimentscited by 2
  7. 2025SFHand: Learning Embodied Manipulation by Streaming Egocentric 3D Hand Forecastingcited by 1
  8. 2025VacuumVLA: Boosting VLA Capabilities via a Unified Suction and Gripping Tool for Complex Robotic Manipulationcited by 1
  9. 2026Generate, Transfer, Adapt: Learning Functional Dexterous Grasping from a Single Human Demonstrationcited by 1
  10. 2026UniMorphGrasp: Diffusion Model with Morphology-Awareness for Cross-Embodiment Dexterous Grasp Generationcited by 1
  11. 2026AffordGrasp: Cross-Modal Diffusion for Affordance-Aware Grasp Synthesiscited by 1
  12. 2026EFF-Grasp: Energy-Field Flow Matching for Physics-Aware Dexterous Grasp Generationcited by 1
  13. 2026AutoDex: An Automated Real-World System for Dexterous Grasping Data Collectioncited by 1
  14. 2024GenHeld: Generating and Editing Handheld Objectscited by 0
  15. 2026TransDex: Pre-training Visuo-Tactile Policy with Point Cloud Reconstruction for Dexterous Manipulation of Transparent Objectscited by 0
  16. 2026FastGrasp: Learning-based Whole-Body Control Method for Fast Dexterous Grasping with Mobile Manipulatorscited by 0
  17. 2026SECOND-Grasp: Semantic Contact-guided Dexterous Graspingcited by 0
  18. 2026DexHoldem: Playing Texas Hold'em with Dexterous Embodied Systemcited by 0
  19. 2026KPGrasp: Scalable Keypoint Flow Matching for Dexterous Grasp Generationcited by 0
  20. 2026GOAG: Generative and Object-Agnostic Grasp Planner for Dexterous Robotic Manipulationcited by 0
  21. 2026Aero Hand Open: A Simulation-Ready Tendon-Driven Hand for Dexterous Manipulation Learningcited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2026HumDex: Humanoid Dexterous Manipulation Made Easy
  2. 2026RoboTacDex: A Dexterous Visual-Tactile-Action Dataset for Humanoid Manipulation ↗
  3. 2026SynManDex: Synthesizing Human-like Dexterous Grasps from Synthetic Human Pre-Grasps
  4. 2026UniDex: A Robot Foundation Suite for Universal Dexterous Hand Control from Egocentric Human Videos
  5. 2025DexH2R: A Benchmark for Dynamic Dexterous Grasping in Human-to-Robot Handover
  6. 2025Grasp Like Humans: Learning Generalizable Multi-Fingered Grasping from Human Proprioceptive Sensorimotor Integration
  7. 2025RoboDexVLM: Visual Language Model-Enabled Task Planning and Motion Control for Dexterous Robot Manipulation
  8. 2026Bench2Dex: Benchmarking Visuo-Tactile Bimanual Dexterous Manipulation Across Dexterous Hands