DexArt: Benchmarking Generalizable Dexterous Manipulation with Articulated Objects

Understand

To enable general-purpose robots, we will require the robot to operate daily articulated objects as humans do.

• Current robot manipulation has heavily relied on using a parallel gripper, which restricts the robot to a limited set of objects.
• On the other hand, operating with a multi-finger robot hand will allow better approximation to human behavior and enable the robot to operate on diverse articulated objects.
• To this end, we propose a new benchmark called DexArt, which involves Dexterous manipulation with Articulated objects in a physical simulator.