UniDexGrasp++: Improving Dexterous Grasping Policy Learning via Geometry-aware Curriculum and Iterative Generalist-Specialist Learning

Weikang Wan*    Haoran Geng*    Yun Liu    Zikang Shan    Yaodong Yang    Li Yi    He Wang   

* equal contributions   corresponding author  


In this work, we present a novel dexterous grasping policy learning pipeline, UniDexGrasp++. Same to UniDexGrasp, UniDexGrasp++ is trained on 3000+ different object instances with random object poses under a table-top setting. It significantly outperforms the previous SOTA and achieves 85.4% and 78.2% success rates on the train and test set.


We propose a novel, object-agnostic method for learning a universal policy for dexterous object grasping from realistic point cloud observations and proprioceptive information under a table-top setting, namely UniDexGrasp++. To address the challenge of learning the vision-based policy across thousands of object instances, we propose Geometry-aware Curriculum Learning (GeoCurriculum) and Geometry-aware iterative Generalist-Specialist Learning (GiGSL) which leverage the geometry feature of the task and significantly improve the generalizability. With our proposed techniques, our final policy shows universal dexterous grasping on thousands of object instances with 85.4% and 78.2% success rate on the train set and test set which outperforms the state-of-the-art baseline UniDexGrasp by 11.7% and 11.3%, respectively.


Full pipeline


Method Overview. We propose to first adopt a state-based policy learning stage followed by a vision-based policy learning stage. The state-based policy takes input robot state Rt, object state St, and the geometric feature z of the scene point cloud of the first frame. We leverage a geometry-aware task curriculum (GeoCurriculum) to learn the first state-based generalist policy. After that, this generalist policy is further improved via iteratively performing specialist fine-tuning and distilling back to the generalist in our proposed geometry-aware iterative generalist-specialist learning (GiGSL), where the task assignment to which specialist is decided by our geometry-aware clustering (GeoClustering). For vision-based policy learning, we first distill the final state-based specialists to an initial vision-based generalist and then do GiGSL for the vision generalist, until we obtain the final vision-based generalist with the highest performance.


  title={UniDexGrasp++: Improving Dexterous Grasping Policy Learning via Geometry-aware Curriculum and Iterative Generalist-Specialist Learning},
  author={Wan, Weikang and Geng, Haoran and Liu, Yun and Shan, Zikang and Yang, Yaodong and Yi, Li and Wang, He},
  journal={arXiv preprint arXiv:2304.00464},


If you have any questions, please feel free to contact us:

  • Weikang Wan: wwkPrevent spamming@Prevent spammingpku.edu.cn
  • Haoran Geng: ghrPrevent spamming@Prevent spammingstu.pku.edu.cn
  • He Wang: hewangPrevent spamming@Prevent spammingpku.edu.cn