A Bimanual Manipulation Benchmark across Dexterous Hands with Simulated Fingertip Visuo-Tactile Support
This repository hosts the official Bench2Dex project website. Bench2Dex is a simulation benchmark with 26 bimanual manipulation tasks 🧩, 12 dexterous-hand embodiments ✋, and 1.3K human-teleoperated demonstrations 🎮.
- 🌐 Project Website — overview, task demonstrations, and evaluation results.
- 🏆 Leaderboard — policy comparisons and per-task scores.
- 📄 Paper: arXiv:2609.15726 — the published preprint.
- 💻 Benchmark Source Code — the main benchmark repository.
- 📖 Documentation — environment setup, policy usage, and task descriptions.
We provide benchmark assets, human teleoperation datasets, and pre-trained policy checkpoints on both Hugging Face and ModelScope.
- Assets: Bench2Dex Assets
- Dataset: Bench2Dex Teleopdata
- Checkpoints: Bench2Dex Policy Checkpoints
- Assets: Bench2Dex Assets
- Dataset: Bench2Dex Teleopdata
- Checkpoints: Bench2Dex Policy Checkpoints
Submit your policy's Bench2Dex results via PR to the Leaderboard repository: include its README, results JSON, and organization logo. Submit the matching evaluation logs to the HF Leaderboard repository in their original Bench2Dex format after removing sensitive information. Follow the linked submission instructions.
If you use Bench2Dex in your research, please cite our paper.
@article{yang2026bench2dex,
title={Bench2Dex: Benchmarking Visuo-Tactile Bimanual Dexterous Manipulation Across Dexterous Hands},
author={Yang, Zhenjie and Zhang, Yideng and Zhang, Dongjie and Jiang, Chenyu and Liu, Xianshuai and Li, Yufeng and Ge, Zuhao and Jiao, Xingyu and Zhang, Zheng and He, Kaiyu and others},
journal={arXiv preprint arXiv:2609.15726},
year={2026}
}