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--- |
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license: mit |
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language: |
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- en |
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--- |
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<p align="center"> |
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<img src="website_assets/imgs/title.png" width="100%"> |
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</p> |
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<div align="center"> |
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[Tony Tao](https://tony-tao.com/)<sup>\*</sup>, [Mohan Kumar Srirama](https://www.mohansrirama.com/)<sup>\*</sup>, [Jason Jingzhou Liu](https://jasonjzliu.com/), [Kenneth Shaw](https://kennyshaw.net/), [Deepak Pathak](https://www.cs.cmu.edu/~dpathak/) |
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Robotics: Science and Systems (RSS) 2025 |
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[[Project page]](https://dexwild.github.io/) [[Video]](https://youtu.be/oMaamSkcl5E) [[ArXiv]](https://arxiv.org/abs/2505.07813) |
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[[Main Code Repo]](https://github.com/dexwild/dexwild) [[Policy Training]](https://github.com/dexwild/dexwild-training) |
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[[Hardware Guide]](https://resisted-salad-9e6.notion.site/DexWild-Hardware-Setup-Guide-20eee3f68d27801b8eb8dfde3a5bb7c4?source=copy_link) [[Data Collection Guide]](https://resisted-salad-9e6.notion.site/DexWild-Data-Collection-Guide-20fee3f68d27803b9a88ef9847e292d4?source=copy_link) |
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[]() |
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</div> |
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--- |
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# Data Breakdown |
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The DexWild dataset is one of the largest, high quality human dexterous hand datasets with a huge diversity of objects and environments. In total, we collect **9,505 Episodes across 5 tasks and 93 environments. 33+ Hours equating to 3.5M+ Transitions!** |
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**Florist** |
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Human - **1,030** Episodes, 310,571 Transitions |
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Robot - **248** Episodes, 92,954 Transitions |
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**Clothes Folding** |
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Human - **1,123** Episodes, 294,367 Transitions |
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Robot - **295** Episodes, 123,385 Transitions |
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**Spray** |
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Human - **2,820** Episodes, 886,460 Transitions |
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Robot - **388** Episodes, 162,862 Transitions |
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**Toy Cleanup** |
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Human - **2,323** Episodes, 1,251,649 Transitions |
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Robot - **546** Episodes, 316,289 Transitions |
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**Pouring** |
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Human - **621** Episodes, 181,541 Transitions |
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Robot - **111** Episodes, 30,880 Transitions |
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# Data Structure |
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Data is saved in HDF5 Format in the following general structure. Note that single arm tasks are missing a few of these folders. |
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```bash |
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data |
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├── ep_0000 |
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│ ├── intergripper |
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│ │ └── intergripper.pkl |
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│ ├── left_leapv2 |
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│ │ └── left_leapv2.pkl |
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│ ├── left_manus |
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│ │ └── left_manus_full.pkl, left_manus.pkl |
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│ ├── left_pinky_cam |
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│ │ └── timestamp1.jpg, timestamp2.jpg, ... |
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│ ├── left_thumb_cam |
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│ │ └── timestamp1.jpg, timestamp2.jpg, ... |
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│ ├── left_tracker |
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│ │ └── left_tracker_cam_frame_abs.pkl, ... |
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│ ├── right_leapv2 |
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│ │ └── right_leapv2.pkl |
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│ ├── right_manus |
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│ │ └── right_manus_full.pkl, right_manus.pkl |
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│ ├── right_pinky_cam |
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│ │ └── timestamp1.jpg, timestamp2.jpg, ... |
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│ ├── right_thumb_cam |
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│ │ └── timestamp1.jpg, timestamp2.jpg, ... |
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│ ├── right_tracker |
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│ │ └── right_tracker_cam_frame_abs.pkl, ... |
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│ ├── timesteps |
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│ │ └── timesteps.txt |
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│ ├── zed |
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│ │ └── zed_ts.pkl |
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│ └── zed_obs |
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│ └── timestamp1.jpg, timestamp2.jpg, ... |
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├── ep_0001 |
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├── ep_0002 |
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├── ... |
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``` |
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# Data Recombination |
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Since HuggingFace has a limit on single file size, you must recombine the data to obtain the full dataset for certain HDF5 files. |
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After downloading the split files, follow this guide. |
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**Merging Instructions:** |
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1. **Navigate to the Download Directory:** |
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```bash |
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cd path_to_downloaded_files |
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``` |
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2. **Merge Files Using `cat`:** |
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Use the `cat` command to concatenate the split parts. Replace `filename.part_*` with your actual file name. |
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```bash |
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cat filename.part_* > filename.tar |
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``` |
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**Example:** |
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```bash |
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cat DexWild_Data.part_* > DexWild_Data.tar |
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``` |
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3. **Verify the Merged File:** |
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Ensure that the merged file size matches the original file size before merging. You can use the `ls -lh` command to check file sizes. |
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```bash |
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ls -lh DexWild_Data.tar |
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``` |
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4. **Extract the Dataset:** |
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Once merged, extract the dataset using the `tar` command: |
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```bash |
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tar -xvf DexWild_Data.tar |
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``` |
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# Citation |
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If you find this project useful, please cite our work: |
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``` |
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@article{tao2025dexwild, |
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title={DexWild: Dexterous Human Interactions for In-the-Wild Robot Policies}, |
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author={Tao, Tony and Srirama, Mohan Kumar and Liu, Jason Jingzhou and Shaw, Kenneth and Pathak, Deepak}, |
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journal={Robotics: Science and Systems (RSS)}, |
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year={2025}} |
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``` |
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