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simmediummanipulation-datametric · varies
Grasp-and-Lift: Executable 3D Hand-Object Interaction Reconstruction via Physics-in-the-Loop Optimization
Description
Dexterous hand manipulation increasingly relies on large-scale motion datasets with precise hand-object trajectory data. However, existing resources such as DexYCB and HO3D are primarily optimized for visual alignment but often yield physically implausible interactions when replayed in physics simulators, including penetration, missed contact, and unstable grasps. We propose a simulation-in-the-loop refinement framework that converts these visually aligned trajectories into physically executab