DexToolBench tasks¶

Twenty-four dexterous tool-use tasks from SimToolReal on a KUKA iiwa arm with a 22-joint Sharpa hand, run in our MuJoCo port. Each row plays our replay of SimToolReal's pretrained policy in that port (four views; the green ghost tool is the current goal); how far the policy gets is on the task page. Three rows have no clip because the policy reaches no goal there, so we have not built those tasks.

Capability coverage · About this benchmark · How to edit a task page