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README.md

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----
-license: mit
----
+---
+license: mit
+language:
+  - en
+---
+<h1 align="center">Official Dataset for DexWild</h1>
+
+
+<div align="center">
+
+[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/)
+
+Robotics: Science and Systems (RSS) 2025
+
+<p align="center">
+    <img src="website_assets/imgs/teaser.gif" width="25%"> 
+</p>
+
+[[Project page]](https://dexwild.github.io/) [[Video]](https://youtu.be/oMaamSkcl5E) [[ArXiv]](https://arxiv.org/abs/2505.07813) 
+
+[[Main Code Repo]](https://github.com/dexwild/dexwild) [[Policy Training]](https://github.com/dexwild/dexwild-training) 
+
+[[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) 
+
+[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)]()
+
+
+</div>
+
+---
+
+# Data Structure
+
+Data is saved in HDF5 Format in the following general structure. Note that single arm tasks are missing a few of these folders.
+```bash
+data
+├── ep_0000
+│   ├── intergripper
+│   │   └── intergripper.pkl
+│   ├── left_leapv2
+│   │   └── left_leapv2.pkl
+│   ├── left_manus
+│   │   └── left_manus_full.pkl, left_manus.pkl
+│   ├── left_pinky_cam
+│   │   └── timestamp1.jpg, timestamp2.jpg, ...
+│   ├── left_thumb_cam
+│   │   └── timestamp1.jpg, timestamp2.jpg, ...
+│   ├── left_tracker
+│   │   └── left_tracker_cam_frame_abs.pkl, ...
+│   ├── right_leapv2
+│   │   └── right_leapv2.pkl
+│   ├── right_manus
+│   │   └── right_manus_full.pkl, right_manus.pkl
+│   ├── right_pinky_cam
+│   │   └── timestamp1.jpg, timestamp2.jpg, ...
+│   ├── right_thumb_cam
+│   │   └── timestamp1.jpg, timestamp2.jpg, ...
+│   ├── right_tracker
+│   │   └── right_tracker_cam_frame_abs.pkl, ...
+│   ├── timesteps
+│   │   └── timesteps.txt
+│   ├── zed
+│   │   └── zed_ts.pkl  
+│   └── zed_obs
+│       └── timestamp1.jpg, timestamp2.jpg, ...
+├── ep_0001
+├── ep_0002
+├── ...
+```
+
+# Data Recombination
+
+Since HuggingFace has a limit on single file size, you must recombine the data to obtain the full dataset for certain HDF5 files.
+
+After downloading the split files, follow this guide.
+
+**Merging Instructions:**
+
+1. **Navigate to the Download Directory:**
+
+   ```bash
+   cd path_to_downloaded_files
+   ```
+
+2. **Merge Files Using `cat`:**
+
+   Use the `cat` command to concatenate the split parts. Replace `filename.tar.gz.part-001`, `filename.tar.gz.part-002`, etc., with your actual file names.
+
+   ```bash
+   cat filename.tar.gz.part-* > filename.tar.gz
+   ```
+
+   **Example:**
+
+   ```bash
+   cat DexWild_Data.tar.gz.part-* > DexWild_Data.tar.gz
+   ```
+
+3. **Verify the Merged File:**
+
+   Ensure that the merged file size matches the original file size before splitting. You can use the `ls -lh` command to check file sizes.
+
+   ```bash
+   ls -lh DexWild_Data.tar.gz
+   ```
+
+4. **Extract the Dataset:**
+
+   Once merged, extract the dataset using the `tar` command:
+
+   ```bash
+   tar -xzvf DexWild_Data.tar.gz
+   ```
+
+
+# Citation
+If you find this project useful, please cite our work:
+```
+@article{tao2025dexwild,
+      title={DexWild: Dexterous Human Interactions for In-the-Wild Robot Policies},
+      author={Tao, Tony and Srirama, Mohan Kumar and Liu, Jason Jingzhou and Shaw, Kenneth and Pathak, Deepak},
+      journal={Robotics: Science and Systems (RSS)},
+      year={2025}}
+
+```
+