{"podcast":{"title":"Daily Paper Cast","slug":"daily-paper-cast-7079649","podcast_index_feed_id":7079649,"rss_url":"https://feeds.transistor.fm/daily-paper-cast-ai","website_url":"https://dailypapercast.transistor.fm/","image_url":"https://img.transistorcdn.com/IxaBeiMluxrMS9W9wB8hFMfmvH27KvwaSMzuhucupn0/rs:fill:0:0:1/w:1400/h:1400/q:60/mb:500000/aHR0cHM6Ly9pbWct/dXBsb2FkLXByb2R1/Y3Rpb24udHJhbnNp/c3Rvci5mbS81Zjg1/YzRhODczMDU4MmE4/OGMwN2FiNDlmYzI2/MDliMi5qcGVn.jpg","author":"Jingwen Liang, Gengyu Wang","episode_count":1967,"summary":"We update every weekday to discuss highest-voted papers from Huggingface Daily Paper (https://huggingface.co/papers). Both the podcast scripts and audio are generated by AI. Feedback and suggestions are welcome! Email us: dailypapercast.ai@gmail.com Creator: Jingwen Liang, 3D ML, https://www.linkedin.com/in/jingwen-liang/ Gengyu Wang, LLM ML, http://wanggengyu.com Listen on: Spotify: https://open.spotify.com/show/21nrhmdaA8qoBiH8q03NXL Apple Podcast: https://podcasts.apple.com/us/podcast/daily-paper-cast/id1777620236 Cover Image by Kawen Kuang https://kawen.art","last_synced_at":"2026-06-14T04:17:49.264124+00:00","page_url":"https://stenobird.com/podcast/daily-paper-cast-7079649"},"episode":{"title":"DexJoCo: A Benchmark and Toolkit for Task-Oriented Dexterous Manipulation on MuJoCo","slug":"dexjoco-a-benchmark-and-toolkit-for-task-oriented-dexterous-manipulation-on-mujoco","published_at":"2026-05-19T04:20:55+00:00","page_url":"https://stenobird.com/podcast/daily-paper-cast-7079649/dexjoco-a-benchmark-and-toolkit-for-task-oriented-dexterous-manipulation-on-mujoco","show_page_url":"https://stenobird.com/podcast/daily-paper-cast-7079649","url":"https://share.transistor.fm/s/8743282c","audio_url":"https://media.transistor.fm/8743282c/a46d3bf0.mp3","summary":"🤗 Upvotes: 47 | cs.RO Authors: Hanwen Wang, Weizhi Zhao, Xiangyu Wang, Siyuan Huang, He Lin, Boyuan Zheng, Rongtao Xu, Gang Wang, Yao Mu, He Wang, Lue Fan, Hongsheng Li, Zhaoxiang Zhang, Tieniu Tan Title: DexJoCo: A Benchmark and Toolkit for Task-Oriented Dexterous Manipulation on MuJoCo Arxiv: http://arxiv.org/abs/2605.16257v1 Abstract: Achieving human-level manipulation requires dexterous robotic hands capable of complex object interactions. Advancing such capabilities further demands standardized benchmarks for systematic evaluation. However, existing dexterous benchmarks lack tasks that reflect the unique manipulation capabilities of dexterous hands over parallel grippers, as well as comprehensive evaluation pipelines. In this paper, we present DexJoCo, a benchmark and toolkit for task-oriented dexterous manipulation, comprising 11 functionally grounded tasks that evaluate tool-use, bimanual coordination, long-horizon execution, and reasoning. We develop a low-cost data collection system and collect 1.1K trajectories across these tasks, with support for domain randomization to assess robustness. We benchmark modern models under diverse settings, including visual and dynamics randomization, multi-task training, and action-head adaptation. Through extensive empirical analysis, we identify several important insights and common limitations of current policies in dexterous manipulation, highlighting key challenges for future research in dexterous hand robot learning. Project page available at: https://dexjoco.github.io","meta_description":"🤗 Upvotes: 47 | cs.RO Authors: Hanwen Wang, Weizhi Zhao, Xiangyu Wang, Siyuan Huang, He Lin, Boyuan Zheng, Rongtao Xu, Gang Wang, Yao Mu, He Wang, Lue Fan…","key_points":[],"chapters":[],"topics":[],"duration_seconds":1392,"processing_state":"not_requested","actions":[{"name":"request_transcript","method":"POST","url":"https://stenobird.com/v1/public/podcasts/daily-paper-cast-7079649/episodes/dexjoco-a-benchmark-and-toolkit-for-task-oriented-dexterous-manipulation-on-mujoco/transcription-requests","description":"Idempotently request low-priority transcript generation for this episode."},{"name":"read_markdown","method":"GET","url":"https://stenobird.com/podcast/daily-paper-cast-7079649/dexjoco-a-benchmark-and-toolkit-for-task-oriented-dexterous-manipulation-on-mujoco.md","description":"Read the agent-friendly Markdown representation of this episode resource."}]}}