SPIDERScalable Physics-Informed DExterous Retargeting

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

Get Started

Released Dataset

View on GitHub

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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

News

2026-09-22: SPIDER retarget_full is released: 7,876 successful trajectories from 2,885 source episodes, covering DexYCB, HOT3D v2, HRDexDB, and OakInk with Allegro, Xhand, Inspire, and Sharpa. Download and inspect with Viser.

The downloader and Viser inspector are included in SPIDER; see the loading and inspection guide to get started.

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