MANIP-ULTRADEX — ANIMA Module

UltraDexGrasp: Learning Universal Dexterous Grasping for Bimanual Robots with Synthetic Data Paper: arXiv:2603.05312

Part of the ANIMA Intelligence Compiler Suite by AIFLOW LABS LIMITED.

Domain

Manipulation

Status

• Paper aligned and ASSETS.md created
• PRD-01 foundation scaffold
• PRD-02 core model scaffold
• PRD-03 inference pipeline scaffold
• PRD-04 evaluation scaffold
• PRD-05 through PRD-07
• Training and export entrypoint scaffolds
• API predict surface and Docker serving scaffold
• GPU training
• Export: pth + safetensors + ONNX + TRT fp16 + TRT fp32
• Push to HuggingFace

Quick Start

cd project_manip_ultradex
uv venv .venv --python 3.11
uv sync --extra dev --extra serve --extra mac --extra train
uv run pytest tests/ -v
uv run python scripts/train.py --dry-run
uv run python scripts/run_inference.py --use-sor

Dependency Strategy

• macOS prebuild and model scaffold: uv sync --extra dev --extra serve --extra mac --extra train
• export extras when needed: uv sync --extra dev --extra serve --extra mac --extra train --extra export
• CUDA-side training build later: uv sync --extra dev --extra serve --extra train --extra export --extra reference
• CUDA-only third-party research stack bootstrap: bash scripts/bootstrap_cuda_deps.sh

License

MIT — AIFLOW LABS LIMITED