SPIDER is open sourced here: https://github.com/facebookresearch/spider

<h1 align="center">🕸️ SPIDER: Scalable Physics-Informed DExterous Retargeting</h1> <p align="center"> <a href="https://opensource.org/licenses/MIT"> <img src="https://img.shields.io/badge/License-MIT-yellow.svg" alt="License: MIT"> </a> <a href="https://www.python.org/downloads/"> <img src="https://img.shields.io/badge/python-3.12+-blue.svg" alt="Python 3.12+"> </a> <a href="https://pytorch.org/"> <img src="https://img.shields.io/badge/PyTorch-2.0+-ee4c2c.svg" alt="PyTorch"> </a> <a href="http://arxiv.org/abs/2511.09484"> <img src="https://img.shields.io/badge/arXiv-2406.12345-b31b1b.svg" alt="arXiv"> </a> <a href="https://jc-bao.github.io/spider/"> <img src="https://img.shields.io/badge/docs-latest-blue.svg" alt="Documentation"> </a> <a href="https://jc-bao.github.io/spider-project/"> <img src="https://img.shields.io/badge/website-project-blue.svg" alt="Project Website"> </a> </p>

Overview

Scalable Physics-Informed DExterous Retargeting (SPIDER) is a general framework for physics-based retargeting from human to diverse robot embodiments, including both dexterous hand and humanoid robot. It is designed to be a minimum, flexible and extendable framework for human2robot retargeting. This code base provides the following pipeline from human video to robot actions:

Gallery

Simulation results:

| Inspire Pick Tea Pot (Gigahands Dataset) | Xhand Play Glass (Hot3D dataset) | Schunk Pick Board (Oakink dataset) | Allegro Pick Cat Toy (Reconstructed from single RGB video) | ------- | ------- | ------- | ------- | | | | | |

| G1 Pick | G1 Run | H1 Kick | T1 skip | | ------- | ------- | ------- | ------- | | | | | |

Multiple viewer support:

| Mujoco | Rerun | | ------- | ------- | | | |

Multiple simulators support:

| Genesis | Mujoco Warp | | ------- | ------- | | | |

Deployment to real-world robots:

| Pick Cup | Rotate Bulb | Unplug Charger | Pick Duck | | ------- | ------- | ------- | ------- | | | | | |

Features

• First general physics-based retargeting pipeline for both dexterous hand and humanoid robot.
• Supports 9+ robots and 6+ datasets out of the box.
• Seemless integration with RL training and data augmentation for BC pipeline.
• Native support for multiple simulators (Mujoco Wrap, Genesis) and multiple downstream training pipelines (HDMI, DexMachina).
• Sim2real ready.

Citation

@misc{pan2025spiderscalablephysicsinformeddexterous,
      title={SPIDER: Scalable Physics-Informed Dexterous Retargeting},
      author={Chaoyi Pan and Changhao Wang and Haozhi Qi and Zixi Liu and Homanga Bharadhwaj and Akash Sharma and Tingfan Wu and Guanya Shi and Jitendra Malik and Francois Hogan},
      year={2025},
      eprint={2511.09484},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2511.09484},
}