---
license: mit
language:
  - en
---

<p align="center">
    <img src="website_assets/imgs/title.png" width="100%"> 
</p>

<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

[[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 Breakdown

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!**

**Florist**  
Human - **1,030** Episodes, 310,571 Transitions  
Robot - **248** Episodes, 92,954 Transitions  

**Clothes Folding**  
Human - **1,123** Episodes, 294,367 Transitions  
Robot - **295** Episodes, 123,385 Transitions  

**Spray**  
Human - **2,820** Episodes, 886,460 Transitions  
Robot - **388** Episodes, 162,862 Transitions  

**Toy Cleanup**  
Human - **2,323** Episodes, 1,251,649 Transitions  
Robot - **546** Episodes, 316,289 Transitions  

**Pouring**  
Human - **621** Episodes, 181,541 Transitions  
Robot - **111** Episodes, 30,880 Transitions  


# 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.part_*` with your actual file name.

   ```bash
   cat filename.part_* > filename.tar
   ```

   **Example:**

   ```bash
   cat DexWild_Data.part_* > DexWild_Data.tar
   ```

3. **Verify the Merged File:**

   Ensure that the merged file size matches the original file size before merging. You can use the `ls -lh` command to check file sizes.

   ```bash
   ls -lh DexWild_Data.tar
   ```

4. **Extract the Dataset:**

   Once merged, extract the dataset using the `tar` command:

   ```bash
   tar -xvf DexWild_Data.tar
   ```


# 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}}

```