DexSuite: open-source dexterous manipulation framework with 10 arms, 12 hands, 30 tasks
mangahomanga · x · 2026-11-04
Researchers released DexSuite (arXiv:2610.37799), an all-in-one open-source simulation framework for dexterous manipulation built on the Genesis simulator.
- Scope: 30 tasks runnable with any of 10 robot arms × 12 end-effectors (parallel-jaw grippers to dexterous hands), with a standardized environment API, integrated teleoperation, and simulated tactile sensing.
- Benchmark: 16 task-embodiment pairs spanning diverse contact complexities and horizons.
- Dataset: 4,700 successful simulated episodes from human teleoperation, scripted experts, and learned policies.
- Supported hardware includes SO-100, ALOHA, Franka Panda, UR5e/UR10e, Trossen ViperX/WidowX, and Kinova arms.
Code, data, and the paper are all open-sourced.
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