HandsOn benchmark: 66 human-verified tasks and 18,000 curated demos for dexterous manipulation
stingning · x · 2026-10-27
HandsOn is a new simulation platform and benchmark for generalizable dexterous manipulation, with 66 human-verified tasks and 18,000 curated human demonstrations covering tool use and precise interaction—built as general models with dexterous hands (e.g. Natura-1) come into view.
The dataset spans 56 hours collected in simulation with three synchronized camera views, robot states, actions, and language instructions. Operators use tracking gloves and wrist trackers, and recordings can be re-rendered under different visual conditions while preserving supervision. The platform supports five arm models, six dexterous hand models, and 200 assets; reported results use ROKAE arms, first-generation Wuji Hands, and PhysX.
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