Bench2Dex 🤖

Benchmarking Visuo-Tactile Bimanual Dexterous Manipulation Across Dexterous Hands

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 Resources 📚

• 🌐 Project Website — overview, task demonstrations, and evaluation results.
• 📄 Paper: arXiv:2609.15726 — the published preprint.
• 💻 Benchmark Source Code — the main benchmark repository.
• 📖 Documentation — environment setup, policy usage, and task descriptions.

Datasets & Weights 📦

We provide benchmark assets, human teleoperation datasets, and pre-trained policy checkpoints on both Hugging Face and ModelScope.

🤗 Hugging Face

• Assets: Bench2Dex Assets
• Dataset: Bench2Dex Teleopdata
• Checkpoints: Bench2Dex Policy Checkpoints

🔮 ModelScope

• Assets: Bench2Dex Assets
• Dataset: Bench2Dex Teleopdata
• Checkpoints: Bench2Dex Policy Checkpoints

Citation 📝

If you use Bench2Dex in your research, please cite our paper. On GitHub, click the copy button at the upper-right corner of the code block to copy the complete BibTeX entry. You can also use Copy BibTeX on the project website.

@misc{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 Wang, He and Zhong, Yuwen and Deng, Yi and Jiang, Muyun and
                   Huang, Xianliang and Su, Haisheng and Zhang, Donghang and Zhang, Jian and
                   Yang, Xue and Li, Hongyang and Wu, Zuxuan and Jiang, Yu-Gang and Jia, Xiaosong and Yan, Junchi},
  year          = {2026},
  eprint        = {2609.15726},
  archivePrefix = {arXiv},
  primaryClass  = {cs.RO},
  url           = {https://arxiv.org/abs/2609.15726}
}