DexJoCo: A Benchmark and Toolkit for Task-Oriented Dexterous Manipulation on MuJoCo

Researchers introduced DexJoCo, a MuJoCo-based benchmark and toolkit for task-oriented dexterous manipulation.

It spans 11 functional tasks, includes a low-cost data collection system, and contains 1.1K trajectories.

The benchmark evaluates modern policies under randomized and multi-task settings, exposing current limitations.

DexJoCo aims to standardize comparison for dexterous-hand control on more realistic, long-horizon manipulation tasks.