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
We welcome pull requests with evaluation results for new policies on Bench2Dex.
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 or the leaderboard. Both pages share the citation in assets/js/citation.js.
@misc{yang2026bench2dex,
title = {{Bench2Dex}: A Bimanual Manipulation Benchmark across Dexterous Hands with Simulated Fingertip Visuo-Tactile Support},
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 Li, Qifeng 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 Jia, Xiaosong and Yan, Junchi},
year = {2026},
eprint = {2609.15726},
archivePrefix = {arXiv},
primaryClass = {cs.RO},
url = {https://arxiv.org/abs/2609.15726}
}