House of Dextra: Cross-embodied Co-design for Dexterous Hands

arXiv cs.RO / 4/2/2026

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Key Points

The paper proposes a “co-design” framework that simultaneously learns task-specific robotic hand morphology and complementary dexterous control policies to improve dexterous manipulation.
It introduces a large morphology search space (covering joint, finger, and palm generation) and uses morphology-conditioned cross-embodied control to enable scalable evaluation across many hand designs.
The authors report simulation and real-world deployments, including tasks like in-hand rotation, to demonstrate the framework’s effectiveness beyond purely simulated settings.
The end-to-end pipeline is designed to produce a new robotic hand by designing, training, fabricating, and deploying within 24 hours using accessible components.
The full framework is planned to be open-sourced via the project website, aiming to make the design-to-deployment workflow more reproducible.

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