DexGPT: a GPT-written real2sim pipeline turns one monocular hand GIF into 44-DOF dexterous sim, open-sourced
animesh_garg · x · 2026-09-10
DexGPT shows GPT writing an entire real2sim pipeline from a single monocular GIF of a human hand: hand tracking, IK retargeting to two 22-DOF Sharpa Wave hands, and grasp refinement, with zero human code. Open-sourced, it achieves passive hinge RMSE of 5.18° (<10° target), max penetration 5.62mm (<5mm target), and 99.5% hand contact frames over 203 replayed states in MuJoCo — though the author flags it as experimental and not yet physically validated.
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