| --- |
| license: mit |
| pretty_name: Dexterous Manipulation Benchmark — Cross-Method Video Grid |
| tags: [robotics, manipulation, benchmark, dexterous-hands] |
| task_categories: [robotics] |
| --- |
| |
| # Dexterous Manipulation Benchmark — Cross-Method Video Grid |
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| **3 methods × 4 hands × 7 OakInk-v2 bimanual trajectories**, all rendered under an identical 720×480 @ 30fps `BENCH_CAMERA` so the paper tile grid lines up frame-for-frame. |
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| > Metrics in [`ckwolfe/benchmarks-viz-tiles`](https://huggingface.co/datasets/ckwolfe/benchmarks-viz-tiles) · trained checkpoints in [`ckwolfe/benchmarks-trained-ckpts`](https://huggingface.co/ckwolfe/benchmarks-trained-ckpts). |
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| --- |
|
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| ## Paper comparison table |
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| | method | class | simulator | n eval cells | ADD ↓ (m) | tracking_err ↓ (m) | success ↑ | cost / cell | standardized videos | |
| |---|---|---|---:|---:|---:|---:|---:|---:| |
| | **ManipTrans** | closed-loop RL (residual) | IsaacGym | 27 | — | **0.040** | — | ~2 s | **21/28** | |
| | **DexMachina** | closed-loop RL (PPO) | Genesis | 225 | **0.244** | — | 0.191 | ~300 s | 0/28 | |
| | **Spider** | sampling (MJWP) | MuJoCo-Warp | 28 | — | 0.083 | 0.357 | ~600 s | 0/28 | |
| |
| _Reference trajectory videos (kinematic replay of the demonstrator under the same camera) are published separately as a visual quality reference — not a peer method. See the reference-only appendix section below if you need them._ |
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| --- |
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| ## Video grid — ManipTrans (OakInk-v2) |
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| The paper's closed-loop-RL column. Videos are MT's captured rollout `qpos` replayed through the shared `BENCH_CAMERA` MuJoCo scene. Xhand joint names auto-match the MJ scene (24/38 joints); allegro / inspire currently fall back to a linear DOF mapping, which leaves the hand frozen (follow-up: per-hand name translation table). |
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| ### `allegro` |
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| | lift_board | pick_spoon | pour_tube | stir_beaker | uncap | unplug | wipe_board | |
| |---|---|---|---|---|---|---| |
| | <video src="https://huggingface.co/datasets/ckwolfe/dex-manip-benchmark/resolve/main/videos/mt_allegro_oakink_v2_lift_board_bimanual_seed42_default.mp4" controls muted playsinline style="width:160px"></video> | <video src="https://huggingface.co/datasets/ckwolfe/dex-manip-benchmark/resolve/main/videos/mt_allegro_oakink_v2_pick_spoon_bowl_bimanual_seed42_default.mp4" controls muted playsinline style="width:160px"></video> | <video src="https://huggingface.co/datasets/ckwolfe/dex-manip-benchmark/resolve/main/videos/mt_allegro_oakink_v2_pour_tube_bimanual_seed42_default.mp4" controls muted playsinline style="width:160px"></video> | <video src="https://huggingface.co/datasets/ckwolfe/dex-manip-benchmark/resolve/main/videos/mt_allegro_oakink_v2_stir_beaker_bimanual_seed42_default.mp4" controls muted playsinline style="width:160px"></video> | <video src="https://huggingface.co/datasets/ckwolfe/dex-manip-benchmark/resolve/main/videos/mt_allegro_oakink_v2_uncap_alcohol_burner_bimanual_seed42_default.mp4" controls muted playsinline style="width:160px"></video> | <video src="https://huggingface.co/datasets/ckwolfe/dex-manip-benchmark/resolve/main/videos/mt_allegro_oakink_v2_unplug_bimanual_seed42_default.mp4" controls muted playsinline style="width:160px"></video> | <video src="https://huggingface.co/datasets/ckwolfe/dex-manip-benchmark/resolve/main/videos/mt_allegro_oakink_v2_wipe_board_bimanual_seed42_default.mp4" controls muted playsinline style="width:160px"></video> | |
| |
| ### `inspire` |
| |
| | lift_board | pick_spoon | pour_tube | stir_beaker | uncap | unplug | wipe_board | |
| |---|---|---|---|---|---|---| |
| | <video src="https://huggingface.co/datasets/ckwolfe/dex-manip-benchmark/resolve/main/videos/mt_inspire_oakink_v2_lift_board_bimanual_seed42_default.mp4" controls muted playsinline style="width:160px"></video> | <video src="https://huggingface.co/datasets/ckwolfe/dex-manip-benchmark/resolve/main/videos/mt_inspire_oakink_v2_pick_spoon_bowl_bimanual_seed42_default.mp4" controls muted playsinline style="width:160px"></video> | <video src="https://huggingface.co/datasets/ckwolfe/dex-manip-benchmark/resolve/main/videos/mt_inspire_oakink_v2_pour_tube_bimanual_seed42_default.mp4" controls muted playsinline style="width:160px"></video> | <video src="https://huggingface.co/datasets/ckwolfe/dex-manip-benchmark/resolve/main/videos/mt_inspire_oakink_v2_stir_beaker_bimanual_seed42_default.mp4" controls muted playsinline style="width:160px"></video> | <video src="https://huggingface.co/datasets/ckwolfe/dex-manip-benchmark/resolve/main/videos/mt_inspire_oakink_v2_uncap_alcohol_burner_bimanual_seed42_default.mp4" controls muted playsinline style="width:160px"></video> | <video src="https://huggingface.co/datasets/ckwolfe/dex-manip-benchmark/resolve/main/videos/mt_inspire_oakink_v2_unplug_bimanual_seed42_default.mp4" controls muted playsinline style="width:160px"></video> | <video src="https://huggingface.co/datasets/ckwolfe/dex-manip-benchmark/resolve/main/videos/mt_inspire_oakink_v2_wipe_board_bimanual_seed42_default.mp4" controls muted playsinline style="width:160px"></video> | |
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| ### `schunk` |
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| | lift_board | pick_spoon | pour_tube | stir_beaker | uncap | unplug | wipe_board | |
| |---|---|---|---|---|---|---| |
| | · | · | · | · | · | · | · | |
| |
| ### `xhand` |
| |
| | lift_board | pick_spoon | pour_tube | stir_beaker | uncap | unplug | wipe_board | |
| |---|---|---|---|---|---|---| |
| | <video src="https://huggingface.co/datasets/ckwolfe/dex-manip-benchmark/resolve/main/videos/mt_xhand_oakink_v2_lift_board_bimanual_seed42_default.mp4" controls muted playsinline style="width:160px"></video> | <video src="https://huggingface.co/datasets/ckwolfe/dex-manip-benchmark/resolve/main/videos/mt_xhand_oakink_v2_pick_spoon_bowl_bimanual_seed42_default.mp4" controls muted playsinline style="width:160px"></video> | <video src="https://huggingface.co/datasets/ckwolfe/dex-manip-benchmark/resolve/main/videos/mt_xhand_oakink_v2_pour_tube_bimanual_seed42_default.mp4" controls muted playsinline style="width:160px"></video> | <video src="https://huggingface.co/datasets/ckwolfe/dex-manip-benchmark/resolve/main/videos/mt_xhand_oakink_v2_stir_beaker_bimanual_seed42_default.mp4" controls muted playsinline style="width:160px"></video> | <video src="https://huggingface.co/datasets/ckwolfe/dex-manip-benchmark/resolve/main/videos/mt_xhand_oakink_v2_uncap_alcohol_burner_bimanual_seed42_default.mp4" controls muted playsinline style="width:160px"></video> | <video src="https://huggingface.co/datasets/ckwolfe/dex-manip-benchmark/resolve/main/videos/mt_xhand_oakink_v2_unplug_bimanual_seed42_default.mp4" controls muted playsinline style="width:160px"></video> | <video src="https://huggingface.co/datasets/ckwolfe/dex-manip-benchmark/resolve/main/videos/mt_xhand_oakink_v2_wipe_board_bimanual_seed42_default.mp4" controls muted playsinline style="width:160px"></video> | |
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| --- |
|
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| ## Coverage summary |
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| | method | real eval cells | standardized videos | |
| |---|---:|---:| |
| | ManipTrans | oakink 27/28, arctic 0/28 | 21/28 | |
| | DexMachina | arctic 225/28=8-rep, oakink 0/28 | 0/28 (native renders only) | |
| | Spider | oakink 28/28 sampled / 12/28 real row | 0/28 (native renders only) | |
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| OakInk bimanual tasks: `lift_board · pick_spoon_bowl · pour_tube · stir_beaker · uncap_alcohol_burner · unplug · wipe_board`. |
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| Arctic tasks: `ketchup30 · box30 · mixer30 · ketchup40 · mixer40 · notebook40 · waffleiron40` (s01 subject). |
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| --- |
|
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| ## Methods |
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| **ManipTrans** — closed-loop residual-RL atop per-hand PPO imitator, IsaacGym. [Paper](https://arxiv.org/abs/2503.01385) · [Upstream](https://github.com/ManipTrans/ManipTrans). This benchmark ships imitators for `{allegro, inspire, xhand}`; schunk retrain in progress. |
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| **DexMachina** — rl_games PPO in Genesis, 140 arctic checkpoints from upstream. [Paper](https://arxiv.org/abs/2505.24853) · [Upstream](https://github.com/MandiZhao/dexmachina). OakInk not publicly released; from-scratch is ~35 GPU-days/cell. |
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| **Spider** — sampling-based MPC on MuJoCo-Warp. [Upstream](https://github.com/facebookresearch/spider). MJWP sampling complete 28/28 oakink; real-row MetricsRow emission partial. |
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| --- |
| |
| ## Metric schema |
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| `shared/bench/schema.py::MetricsRow`. Key fields: |
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| | field | units | notes | |
| |---|---|---| |
| | `success_rate` | 0–1 | per-episode outcome mean | |
| | `tracking_err_mean` | meters | position err vs reference; blanked if divergent (>1 m) | |
| | `add_mean` | meters | Average Distance of Displacement | |
| | `sim_steps` | — | hard cap via `BENCH_MAX_STEPS` | |
| | `upstream_commit` | git SHA | captured on host | |
| | `sim_backend` | str | `isaacgym` / `genesis` / `mjwp` | |
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| Row-append validator rejects `tracking_err_mean > tracking_err_max + 0.01` (the divergent-rollout failure mode). |
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| --- |
|
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| ## Reviewer notes |
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| **"5 seeds" = 5 training reps (shared seed = 42).** All DM checkpoints share `seed: 42` per each `config.json`. Variance reflects rl_games's env-step + mini-epoch stochasticity, not a seed sweep. |
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| **Open-loop vs closed-loop.** Spider (sampling) runs in a fundamentally different regime from MT/DM (learned closed-loop). Paper Table 1 splits into two sub-tables keyed on `METHOD_AXIS_CLASS` in `shared/bench/plot_style.py`. |
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| **Simulator confound.** MT=IsaacGym, DM=Genesis, Spider=MuJoCo-Warp. Contact model, integrator, and timestep differ — tracking-err is within-class comparable, cross-class illustrative only. |
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| --- |
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| ## Known gaps |
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| - **DM × oakink training** — public ckpts arctic-only; from-scratch is ~35 GPU-days/cell. |
| - **MT × schunk imitator** — retraining overnight. |
| - **Arctic standardized videos** — Spider arctic preprocess stops at stage-1. |
| - **MT allegro/inspire video joint-name mapping** — xhand 24/38 auto-matched; others need per-hand translation table. |
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| --- |
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| ## Reference kinematic trajectories (not part of the method comparison) |
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| For qualitative inspection of the reference demonstrations each method is trying to track, `videos/std_*.mp4` contain the per-hand kinematic replay of the Spider-preprocessed trajectory under the same `BENCH_CAMERA`. These are **not** a 4th method — they are what the policies are being compared against. |
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| --- |
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| ## Citation |
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| ```bibtex |
| @misc{dex-manip-benchmark-2026, |
| title = {Dexterous Manipulation Benchmark — Cross-Method Video Grid}, |
| author = {C.K. Wolfe and T. Sadjadpour}, |
| year = {2026}, |
| url = {https://huggingface.co/datasets/ckwolfe/dex-manip-benchmark}, |
| } |
| ``` |
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