Build your embodiment.

01 Choose your arm.

Start with one of four arms.

Or, quick select from all arm–hand combinations

4 arms × 13 hand / gripper types · 152 selected episodes

Success rate (%) · Click any cell to explore its grasp in 3D ↗

* Held-out pairing of training hand types. New hand types were excluded from training. Rates: DexFormer 2.0, seen objects, normal execution, 1,000 evaluation episodes per combination.