Preprint Open access
Bench2Dex: Benchmarking Visuo-Tactile Bimanual Dexterous Manipulation Across Dexterous Hands
Tactile sensing provides contact information that can be difficult to infer from vision alone, but tactile hardware for dexterous hands has not converged to a common design. Dexterous hands differ in finger structure, contact surfaces, and sensor layouts, while simulated tactile signals still differ from measurements p …