Preprint Open access
OmniDex: Scaling Dexterous Hand Grasping to Diverse Cluttered Scenes
Dexterous grasping is the foundational primitive in embodied AI, demanding massive data to train robust models. As real-world data collection is expensive, simulation has become the mainstream paradigm. Yet, while cluttered scenes best reflect real-world applications, learning to grasp within them is bottlenecked by a …