---
language:
- en
tags:
- dexterous manipulation
- robotics
- diffusion policy
- dexterous ha
license: apache-2.0
---

# DexHandDiff: Interaction-aware Diffusion Planning for Adaptive Dexterous Manipulation

**Code:** [https://github.com/Liang-ZX/DexHandDiff](https://github.com/Liang-ZX/DexHandDiff)  
**Project Page:** [https://dexdiffuser.github.io/](https://dexdiffuser.github.io/)  
**Paper:** [https://huggingface.co/datasets/Liang-ZX/DexHandDiff/blob/main/paper.pdf](https://huggingface.co/datasets/Liang-ZX/DexHandDiff/blob/main/paper.pdf)

## Checkpoints / Models:
- [**Adroit Door**](https://huggingface.co/Liang-ZX/DexHandDiff-AdroitDoor)


## Citation
```
@inproceedings{liang2025dexhanddiff,
title={DexHandDiff: Interaction-aware Diffusion Planning for Adaptive Dexterous Manipulation},
author={Liang, Zhixuan and Mu, Yao and Wang, Yixiao and Chen, Tianxing and Shao, Wenqi and Zhan, Wei and Tomizuka, Masayoshi and Luo, Ping and Ding, Mingyu},
booktitle={Proceedings of the Computer Vision and Pattern Recognition Conference},
pages={1745--1755},
year={2025}
}
```