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

- Source: HuggingFace Daily Papers
- Published: 2026-10-19T00:00:00.000Z
- RoboHot: https://robohot.news/en/items/yrtsaftk9rv7klgv0vzfk44p3
- Original: https://huggingface.co/papers/2610.26765

## Summary

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.