Human Universal Grasping (HUG)

Learning dexterous multifingered grasping entirely from human data.

• 📄 Paper: arXiv:2606.17054
• 🌐 Website: grasping.io
• 💻 Code: github.com/kevinywu/hug

Files

• hug_full.safetensors — full model weights (EMA, bf16).

Usage

hf download kevinywu/hug hug_full.safetensors --local-dir checkpoints/

See the code repo for inference instructions.

Citation

@article{wu2026hug,
  title={Human Universal Grasping},
  author={Kevin Yuanbo Wu and Tianxing Zhou and Isaac Tu and Billy Yan and Irmak Guzey and David Fouhey and Dandan Shan and Lerrel Pinto},
  journal={arXiv preprint arXiv:2606.17054},
  year={2026}
}