Bench2Dex: Benchmarking Visuo-Tactile Bimanual Dexterous Manipulation Across Dexterous Hands

תקציר מקורי באנגליתarXiv:2609.15726v1 Announce Type: cross Abstract: Tactile sensing provides contact information that can be difficult to infer from vision alone, but tactile hardware for dexterous hands has not converged to a common design. Dexterous hands differ in finger structure, contact surfaces, and sensor layouts, while simulated tactile signals still differ from measurements produced by physical sensors. These factors make it difficult to study visuo-tactile manipulation across diverse dexterous hands within a consistent experimental setting. We present Bench2Dex, a simulation benchmark for visuo-tactile bimanual manipulation across 12 dexterous hands. We adapt existing robot models with a shared simulated tactile interface that converts local contact geometry into image-like tactile observations.