A modular benchmark of 100 dexterous manipulation tasks across 3 arms and 6 hands with 3,180 demonstrations reveals that current policies (Diffusion Policy, DP3, OpenVLA, π0.5) achieve only 34% mean success, exposing unsolved challenges in contact-rich and precise manipulation.
Isaac Sim Assets.https://docs.isaacsim.omniverse.nvidia.com/latest/ assets/usd_assets_overview.html, 2026
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DexVerse: A Modular Benchmark for Multi-Task, Multi-Embodiment Dexterous Manipulation
A modular benchmark of 100 dexterous manipulation tasks across 3 arms and 6 hands with 3,180 demonstrations reveals that current policies (Diffusion Policy, DP3, OpenVLA, π0.5) achieve only 34% mean success, exposing unsolved challenges in contact-rich and precise manipulation.