We evaluate HUG in an unseen home, on the test set of HUG-Bench. Uncut videos of all 300 trials are on Here's our YOR robot executing grasps on a tiny match box:

Introducing Human Universal Grasping (HUG): dexterous grasping learned entirely from human hands, with zero robot data. 🌐 Website: 📄 Paper: 💻 Code: