构建可扩展的灵巧操作基准，支持多任务多机器人形态测试。
DexVerse: A Modular Benchmark for Multi-Task, Multi-Embodiment Dexterous Manipulation
- 模块化设计支持100个任务与3种机械臂、6种手型组合
- 涵盖19项任务的基线评估显示泛化能力仍有巨大挑战
- 适合研究跨任务、跨形态和视觉鲁棒性的机器人学习者
构建通用灵巧操作策略需要超越单一任务的基准，系统评估策略在多样交互模式、感知条件和机器人形态下的表现。现有基准在任务多样性、数据覆盖或可控视觉变化方面仍显不足，限制了跨任务与跨形态泛化研究。我们提出DexVerse，一个大规模、模块化的灵巧操作基准。DexVerse包含100个任务，涵盖物体抓取与重定位、联动物体交互、功能工具使用、双臂协调、非捏握控制、高接触行为、多目标执行及长时序多阶段任务完成。支持3种机械臂和6种灵巧手，并可扩展新任务、资产与形态。为评估视觉-运动泛化，提供可配置的纹理、背景、光照与摄像机视角变化。我们还提供了基于VR的遥操作接口和3,180条带同步本体感觉、RGB、深度图、点云及状态观测的示范数据。我们在19个任务上对Diffusion Policy、DP3、OpenVLA和$π_{0.5}$等代表性方法进行基准测试，结果揭示任务泛化与视觉-运动鲁棒性仍存在显著挑战，确立DexVerse作为通用灵巧操作研究的理想测试平台。
原文摘要 · Abstract (English)
Building general-purpose dexterous manipulation policies requires benchmarks that go beyond isolated tasks to systematically evaluate policies across diverse interaction modes, sensory conditions, and robot embodiments. However, existing benchmarks remain limited in task and data diversity, embodiment coverage, or controllable visual variation, hindering studies of cross-task and cross-embodiment generalization. We present DexVerse, a large-scale and modular benchmark for dexterous manipulation. DexVerse includes 100 tasks spanning a broad range of manipulation skills, including object grasping and relocation, articulated-object interaction, functional tool use, bimanual coordination, non-prehensile control, contact-rich behaviors, multi-goal execution, and long-horizon multi-stage task completion. It supports 3 robot arms and 6 dexterous hands, and is extensible to new tasks, assets, and embodiments. To evaluate visuomotor generalization, DexVerse provides configurable visual variations in textures, background, lighting, and camera viewpoints. We further provide a VR-based teleoperation interface and 3,180 demonstrations with synchronized proprioceptive, RGB, depth, point-cloud, and state observations. We benchmark representative methods, including Diffusion Policy, DP3, OpenVLA, and $π_{0.5}$, across 19 tasks. Results reveal substantial challenges in task generalization and visuomotor robustness, establishing DexVerse as a promising testbed for general-purpose dexterous manipulation. Project page: https://ycyao216.github.io/DexVerse.site
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