UniDex

This Hugging Face repository hosts the released UniDex models and data annotations for:

UniDex: A Robot Foundation Suite for Universal Dexterous Hand Control from Egocentric Human Videos

Official project resources:

• Code: https://github.com/unidex-ai/UniDex
• Project Page: https://unidex-ai.github.io/
• Paper: https://unidex-ai.github.io/assets/UniDex_Arxiv.pdf

Contents

• Model checkpoints for UniDex pretraining and downstream use
• Data annotations used for dataset preparation

Released Models

• 3-epoch pretraining model: this is the pretraining model used in the paper experiments
• 32-epoch pretraining model: we additionally provide a longer-trained pretraining model

Data Annotations

We also release the dataset annotations used by the UniDex codebase for preparing the training data.

You can download the released annotations with:

hf download UniDex-ai/UniDex --include dataset_annotations/* --local-dir .

For full environment setup, dataset preparation, retargeting, pretraining, and finetuning instructions, please refer to the official code repository:

https://github.com/unidex-ai/UniDex

Citation

If you find UniDex useful, please cite:

@article{zhang2026unidex,
  title={UniDex: A Robot Foundation Suite for Universal Dexterous Hand Control from Egocentric Human Videos},
  author={Zhang, Gu and Xu, Qicheng and Zhang, Haozhe and Ma, Jianhan and He, Long and Bao, Yiming and Ping, Zeyu and Yuan, Zhecheng and Lu, Chenhao and Yuan, Chengbo and others},
  journal={arXiv preprint arXiv:2603.22264},
  year={2026}
}