GraspXL: Large-Scale Physically Plausible Dexterous Grasping Motions

A large-scale dataset of physically plausible dexterous grasping motion sequences over Objaverse objects. It contains generated grasping motions for different hand models, together with processed object meshes used by the recorded sequences. The dataset was created by ethHuiZhang and was last updated on 2026-05 06.

Use Cases

• Training or evaluating robotic grasping models based on generated motion sequences.
• Simulating hand-object interactions for virtual environments based on the diverse approach directions.
• Benchmarking physics-based animation algorithms based on the physically plausible motion data.
• Analyzing grasp stability and dexterity based on the complementary tabletop interaction setting.

Strengths

• Dataset is described as 'large-scale', suggesting substantial volume.
• Contains 'diverse hand-object interactions' with hands approaching from different directions.
• Includes a 'complementary setting' with objects placed on a table.

Limitations

• Description metadata is limited; actual data quality requires manual inspection after download.
• Column-level documentation is absent; field semantics must be inferred after download.
• Row count is unknown, which may limit suitability assessment.

Provenance

Source

huggingface

Collection Method

Generated grasping motions for different hand models over Objaverse objects.

Time Range

null

Freshness

Last updated 2026-05-06 11:09:40; freshness should be verified.

Geography

null