Dexterous ManipulationIntermediate
DexJoCo-X: Benchmarking Action Representations for Multi-Hand Dexterous Manipulation
This preprint introduces DexJoCo-X, a simulation benchmark and toolkit for comparing action representations across seven dexterous hands and six manipulation tasks using 2,100 balanced demonstrations. Under a single joint policy, function-aligned action slots reach 47.7% mean success over all 42 hand-task pairs, versus 47.0% for native joint coordinates and 33.1% for learned cross-hand latents. The work matters because it isolates representation choices under matched data and training, helping teams build scalable cross-embodiment dexterous policies.