Industrial Dexterity Benchmark: A Hardware-Software Benchmarking Platform for Industrial Dexterous Manipulation

arXiv:2607.14021 · cs.RO · Submitted 2026-07-15 · Read on arXiv

cs.RO

Submitted: 2026-07-15

Updated: 2026-09-21

Terminology

• Benchmark — 19× in this paper · explained in 2 episodes
• Benchmarking — 14× in this paper · explained in 3 episodes
• Diffusion Policy — 12× in this paper
• Robustness — 7× in this paper · explained in 5 episodes
• Point Clouds — 5× in this paper · explained in 2 episodes
• Alignment — 4× in this paper · explained in 1 episode
• Industrial Dexterity Benchmark — 4× in this paper
• Conference on Computer Vision and Pattern Recognition — 3× in this paper
• Diffusion Model — 3× in this paper · explained in 8 episodes
• Diffusion Models — 3× in this paper · explained in 6 episodes
• Diffusion Policy (DP) — 3× in this paper · explained in 2 episodes
• Motion Primitives — 3× in this paper · explained in 2 episodes
• Ablation — 2× in this paper · explained in 1 episode
• Action Chunking — 2× in this paper · explained in 1 episode
• Data Augmentation — 2× in this paper · explained in 7 episodes
• Fine-Tuning — 2× in this paper · explained in 5 episodes
• Generalization — 2× in this paper · explained in 13 episodes
• NIST Assembly Task Board — 2× in this paper
• Accuracy — 1× in this paper · explained in 1 episode
• Adaptability — 1× in this paper · explained in 1 episode
• Algorithmic Improvements — 1× in this paper · explained in 1 episode
• Core — 1× in this paper · explained in 2 episodes
• Decoupling — 1× in this paper · explained in 2 episodes
• Edge Deployment — 1× in this paper · explained in 2 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• National Institute of Standards and Technology — 1× in this paper
• Point Cloud Data — 1× in this paper · explained in 2 episodes
• Sample Efficiency — 1× in this paper · explained in 4 episodes
• Trace — 1× in this paper · explained in 2 episodes
• Transformer — 1× in this paper · explained in 2 episodes

Sources

• Dexterous Functional Pre-Grasp Manipulation with Diffusion Policy
• DINOv3

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