HandsOn: A Large-Scale Simulation Benchmark for Generalizable Dexterous Manipulation
We introduce HandsOn, a composable simulation platform and benchmark for cross-embodiment dexterous manipulation.
ProofPaper ↗
Key points
- General-purpose manipulation requires reliable behavior across embodiments, objects, and task demands.
- The benchmark pairs 18,000 curated human demonstrations with 66 human-verified tasks: Core-50 supports demonstration-based learning and execution tests, while Transfer-16 evaluates asset and relation transfer, skill composition, and deformable manipulation without target-task training demonstrations.
- Qualitative real-robot rollouts illustrate sim-to-real transfer.
- HandsOn provides a shared basis for investigating manipulation generalization and the limits of reliable physical interaction.
Sources (2)
- [1]HandsOn: A Large-Scale Simulation Benchmark for Generalizable Dexterous ManipulationHugging Face Daily Papers · Oct 19, 12:00 AM
We introduce HandsOn, a composable simulation platform and benchmark for cross-embodiment dexterous manipulation.
General-purpose manipulation requires reliable behavior across embodiments, objects, and task demands.
- [2]HandsOn: A Large-Scale Simulation Benchmark for Generalizable Dexterous ManipulationarXiv (AI, ML, NLP, CV, robotics, multi-agent) · Oct 19, 05:22 PM · same content
Extractive summary: sentences quoted from the sources.
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