BiDex-100：100以上のシミュレーションタスクで両手巧緻操作を評価する包括的ベンチマーク
BiDex-100: A Comprehensive Benchmark for Bimanual Dexterous Manipulation Across 100+ Simulation Tasks
両手巧緻操作のための106タスクからなるシミュレーションベンチマークを構築し、7つのVLAモデルを統一プロトコルで評価してベースラインを確立した論文。
著者: Yong Wang, Kecheng Zheng, Xing Zhu, Chao Xu, Yujun Shen, Shengze Cai
分類: cs.RO, cs.CV, cs.LG
原文アブストラクト
Bimanual manipulation with dexterous hands has attracted growing attention in research on robotic action models. However, few studies have developed benchmarks specifically tailored for dexterous manipulation, leaving the dexterous manipulation capabilities of existing models insufficiently characterized. In this paper, we present BiDex-100, a simulation benchmark for bimanual dexterous manipulation that combines broad task coverage, multi-dimensional evaluation, and high-DoF hand embodiments. Concretely, the benchmark comprises 106 tasks organized along five capability axes: generalization, instruction following, limited demonstrations, long horizon, and memory. Each task is paired with an out-of-domain variant featuring controlled visual and spatial changes, allowing systematic assessment of robustness. In addition, the benchmark supports two embodiments and provides 8,080 success-validated teleoperated demonstrations, totaling 6.25 million frames. We evaluate seven recent Vision-Language-Action models under a unified protocol, establishing baselines for capability-specific performance, robustness, and data efficiency. The website is available at https://BiDex-100.github.io/BiDex-100/.