50 lines
1.5 KiB
Markdown
50 lines
1.5 KiB
Markdown
---
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layout: home
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hero:
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name: "SPIDER"
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text: "Scalable Physics-Informed DExterous Retargeting"
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tagline: A general framework for physics-based retargeting from human to diverse robot embodiments
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image:
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src: /figs/teaser.png
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alt: SPIDER
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actions:
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- theme: brand
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text: Get Started
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link: /guide/quick-start
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- theme: alt
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text: View on GitHub
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link: https://github.com/facebookresearch/spider
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features:
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- icon: 🔬
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title: Physics-Based
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details: First general physics-based retargeting pipeline for both dexterous hand and humanoid robot manipulation
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- icon: ⚡
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title: Fast Simulation
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details: GPU-accelerated batched simulation with MuJoCo Warp achieving 10-20x speedup over sequential execution
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- icon: 📊
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title: Rich Datasets, Robots and Simulators
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details: 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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- icon: 🔄
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title: Sim2Real Ready
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details: Optimized trajectories can be directly deployed to real-world robots with minimal adjustments
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---
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## Quick Example
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```bash
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# Clone example datasets
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git clone https://huggingface.co/datasets/retarget/retarget_example example_datasets
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# Install with uv
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uv sync --python 3.12
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pip install --ignore-requires-python --no-deps -e .
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# Run retargeting
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uv run examples/run_mjwp.py
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```
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