Bench2Dex 🤖

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 Resources 📚

• 🌐 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.

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

Contributing

We welcome pull requests with evaluation results for new policies on Bench2Dex.

Citation 📝

If you use Bench2Dex in your research, please cite our paper.

@article{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 others},
  journal={arXiv preprint arXiv:2609.15726},
  year={2026}
}