SPIDERScalable Physics-Informed DExterous Retargeting

A general framework for physics-based retargeting from human to diverse robot embodiments

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Physics-Based

First general physics-based retargeting pipeline for both dexterous hand and humanoid robot manipulation

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Fast Simulation

GPU-accelerated batched simulation with MuJoCo Warp achieving 10-20x speedup over sequential execution

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Rich Datasets, Robots and Simulators

Works with 6+ datasets out of the box including GigaHand, Hot3D, OakInk, and more. Supports 9+ robot embodiments including dexterous hands (Allegro, Inspire, Xhand) and humanoid robots (G1, H1, T1). Supports multiple simulators including MuJoCo Warp, Genesis, and HDMI.

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Sim2Real Ready

Optimized trajectories can be directly deployed to real-world robots with minimal adjustments

Quick Example

bash

# Clone example datasets
git clone https://huggingface.co/datasets/retarget/retarget_example example_datasets

# Install with uv
uv sync --python 3.12
pip install --ignore-requires-python --no-deps -e .

# Run retargeting
uv run examples/run_mjwp.py