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HandsOn: A Large-Scale Simulation Benchmark for Generalizable Dexterous Manipulation

The research team proposes HandsOn, a composable cross-embodiment dexterous manipulation simulation platform and benchmark supporting 5 robotic arms, 6 dexterous hands, and about 200 rigid, articulated, and deformable assets. The benchmark contains 18,000 human demonstrations and 66 human-verified tasks, of which Core-50 is used for demonstration-based learning and execution tests, while Transfer-16 evaluates asset and relation transfer, skill composition, and deformable manipulation without target-task demonstrations.

Part of the event: Tsinghua and other teams release HandsOn dexterous manipulation simulation benchmark

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