Datasets:
episode_index int64 0 10k | language_instruction stringclasses 15
values | actions stringlengths 2.91k 8.86k | length int64 10 29 |
|---|---|---|---|
0 | Pinch grip: thumb and index finger close | [[0.035471200942993164, 0.11371877044439316, 0.033410221338272095, 0.13552910089492798, 0.13365259766578674, 0.006520428694784641, 0.04315725713968277, 0.28864753246307373, 0.019336331635713577, 0.13515213131904602, 0.28555920720100403, 0.09539046883583069, 0.15425513684749603, -0.06939634680747986], [0.034545037895441... | 22 |
1 | Power grasp: all fingers wrap around cylinder | [[-0.046592552214860916, 0.06768172234296799, 0.2249552607536316, 0.000877031241543591, 0.030316369608044624, -0.08043114840984344, 0.03678203746676445, 0.09942051768302917, 0.05687367916107178, -0.0064319162629544735, 0.09016887843608856, -0.0610029436647892, 0.1628396213054657, 0.05084061250090599], [-0.0431835427880... | 25 |
2 | Precision grip: three-finger tripod on small object | [[0.26550617814064026, -0.04401114210486412, 0.0713706985116005, 0.2159910649061203, 0.15330536663532257, -0.03418100252747536, 0.04931076243519783, -0.040673766285181046, 0.13424618542194366, 0.12855587899684906, 0.0442872978746891, 0.2809465527534485, 0.1270311325788498, 0.2593289315700531], [0.26437416672706604, -0.... | 21 |
3 | Hook grip: fingers curl to carry handle | [[-0.029210897162556648, 0.03635398671030998, 0.2598032057285309, -0.03659860044717789, -0.08241292834281921, 0.2082844376564026, 0.168841153383255, 0.02978833019733429, 0.1426943838596344, -0.10009220987558365, 0.2012215554714203, 0.19660337269306183, -0.03836710378527641, 0.06253473460674286], [-0.02622094191610813, ... | 25 |
4 | Lateral pinch: thumb against side of index finger | [[0.013881062157452106, -0.0752965435385704, 0.13046160340309143, 0.14435815811157227, -0.08589925616979599, 0.21224036812782288, 0.2543887794017792, -0.04327130317687988, -0.04536999762058258, -0.03279490768909454, 0.1204700693488121, 0.14009393751621246, 0.26287195086479187, 0.2694529592990875], [0.013782303780317307... | 29 |
5 | Spherical grasp: fingers spread around ball | [[0.20949527621269226, 0.24491238594055176, -0.05016225203871727, 0.025946345180273056, 0.2885536253452301, 0.14998595416545868, 0.11444678157567978, -0.05926106870174408, -0.05014947056770325, 0.2017872929573059, -0.0315091498196125, -0.054401248693466187, 0.21287864446640015, 0.18001361191272736], [0.2060211300849914... | 12 |
6 | Release: open all fingers wide | [[0.09701215475797653, 0.19696347415447235, 0.0016404596390202641, 0.010182383470237255, -0.07216422259807587, 0.0571422316133976, 0.05077853798866272, 0.19687481224536896, 0.05638391152024269, -0.02594156190752983, 0.01951737515628338, 0.0007107692654244602, 0.22720102965831757, -0.036534812301397324], [0.090997792780... | 10 |
7 | Point: extend index finger, curl others | [[-0.06484653800725937, 0.010383473709225655, 0.29883429408073425, -0.030986927449703217, -0.047746192663908005, 0.10709769278764725, 0.08668535947799683, 0.24020729959011078, -0.049826882779598236, 0.021796150133013725, 0.051574286073446274, 0.1552932858467102, 0.27428969740867615, 0.08336139470338821], [-0.0653030052... | 26 |
8 | Thumbs up: extend thumb, close fingers | [[0.11455489695072174, 0.30460864305496216, 0.2436227798461914, -0.012477013282477856, -0.014188681729137897, -0.07061568647623062, 0.0023298056330531836, 0.010898289270699024, 0.058170586824417114, -0.03971647471189499, 0.10449595004320145, -0.014694121666252613, 0.10009736567735672, -0.03910791873931885], [0.10924887... | 26 |
9 | Wave: flex and extend fingers sequentially | [[0.08456863462924957, 0.11743627488613129, 0.1115642637014389, 0.17415979504585266, 0.2931305766105652, -0.07702377438545227, 0.27010616660118103, 0.06555113941431046, 0.16009384393692017, 0.07366892695426941, 0.0010954636381939054, 0.06577921658754349, 0.015794552862644196, 0.20925992727279663], [0.08305104076862335,... | 20 |
10 | Twist: rotate wrist while gripping | [[0.2275395691394806, 0.15618270635604858, 0.11743496358394623, 0.13219429552555084, 0.12236306071281433, 0.20464681088924408, -0.09251081198453903, -0.07944462448358536, 0.006077704951167107, 0.07968192547559738, -0.08069030195474625, 0.18545514345169067, 0.07397545129060745, 0.2322138547897339], [0.22369566559791565,... | 24 |
11 | Type: rapid alternating finger extensions | [[0.20062775909900665, 0.2682390511035919, 0.03235785663127899, 0.01204291544854641, 0.06421477347612381, 0.0762009471654892, 0.15386627614498138, 0.019602492451667786, 0.0387195348739624, 0.06978978961706161, 0.09184309095144272, 0.10023525357246399, -0.07780284434556961, 0.19787830114364624], [0.21796831488609314, 0.... | 18 |
12 | Pen grip: hold thin cylinder between three fingers | [[0.005657217465341091, 0.19481270015239716, -0.07867563515901566, 0.15358299016952515, 0.06605087220668793, 0.009612116031348705, 0.2548980116844177, 0.17683745920658112, 0.010169986635446548, 0.12592864036560059, -0.06589138507843018, 0.16236674785614014, 0.1655590832233429, -0.07707007974386215], [0.0011688639642670... | 20 |
13 | Key pinch: rotate key with thumb and index | [[0.11371850222349167, 0.12375849485397339, -0.08696337789297104, 0.07840415835380554, -0.06517842411994934, 0.16443277895450592, 0.027639053761959076, 0.009551065042614937, 0.10638593137264252, 0.15827862918376923, 0.07028000056743622, 0.11890765279531479, 0.20650379359722137, 0.25568264722824097], [0.1167918369174003... | 12 |
14 | Cup fingers to scoop | [[0.261977881193161, 0.15118950605392456, 0.051079101860523224, 0.059261299669742584, 0.14672300219535828, 0.006158996373414993, -0.0550735704600811, 0.07907331734895706, 0.2598097324371338, 0.04583912342786789, -0.012805159203708172, -0.001888791099190712, 0.28224289417266846, 0.22324879467487335], [0.2693165838718414... | 20 |
15 | Pinch grip: thumb and index finger close | [[-0.08043729513883591, 0.08434896171092987, 0.22554878890514374, -0.07951439172029495, 0.06279212981462479, 0.038420420140028, 0.2709066569805145, 0.1130325049161911, 0.10644005984067917, 0.15951447188854218, 0.10199056565761566, 0.2659694254398346, 0.04487879201769829, 0.11955396085977554], [-0.05641989782452583, 0.0... | 10 |
16 | Power grasp: all fingers wrap around cylinder | [[-0.014638366177678108, 0.03554493561387062, -0.039496369659900665, -0.0668628141283989, -0.04160220921039581, 0.12078043818473816, -0.04934537410736084, 0.16806374490261078, 0.21336232125759125, 0.22663365304470062, -0.09320681542158127, 0.04317791014909744, -0.03587355837225914, 0.26887214183807373], [-0.00966011546... | 10 |
17 | Precision grip: three-finger tripod on small object | [[0.06363904476165771, -0.07966671139001846, 0.2845136523246765, 0.26502910256385803, -0.037602413445711136, 0.03573380783200264, -0.05284477770328522, 0.12340637296438217, -0.0268911961466074, -0.04556385055184364, 0.028582777827978134, -0.014554492197930813, -0.08259294182062149, 0.21616601943969727], [0.062690287828... | 13 |
18 | Hook grip: fingers curl to carry handle | [[0.2871468961238861, 0.11814143508672714, 0.02229917235672474, 0.1826642006635666, 0.26665809750556946, -0.05829194560647011, 0.26639580726623535, 0.19095581769943237, 0.115208700299263, 0.026097266003489494, 0.08040360361337662, 0.2506706714630127, -0.07209978252649307, -0.03294149041175842], [0.2778564691543579, 0.1... | 22 |
19 | Lateral pinch: thumb against side of index finger | [[0.20994260907173157, 0.1796347051858902, 0.009271093644201756, 0.07723632454872131, 0.18961791694164276, 0.07754534482955933, -0.04164402559399605, 0.29349955916404724, 0.2364834100008011, 0.20293501019477844, 0.17142362892627716, 0.13234131038188934, 0.004514683969318867, 0.18832719326019287], [0.21336126327514648, ... | 11 |
20 | Spherical grasp: fingers spread around ball | [[-0.07007820904254913, 0.26179128885269165, -0.019841264933347702, 0.08904922008514404, 0.14562846720218658, 0.1488366276025772, -0.07285730540752411, 0.13669458031654358, 0.09124896675348282, 0.24812786281108856, 0.16051307320594788, -0.06719571352005005, 0.22496332228183746, -0.07911750674247742], [-0.06520111858844... | 22 |
21 | Release: open all fingers wide | [[0.05636492744088173, -0.09138559550046921, 0.03807029500603676, 0.06808421015739441, 0.0649842768907547, -0.05409732460975647, 0.23752731084823608, 0.0046197595074772835, 0.01999826356768608, 0.2978246808052063, 0.05589733272790909, 0.20489200949668884, 0.2295660525560379, 0.03630856052041054], [0.05617375671863556, ... | 24 |
22 | Point: extend index finger, curl others | [[0.24087724089622498, 0.24675695598125458, -0.014832458458840847, 0.24505135416984558, 0.11629366874694824, 0.28903061151504517, 0.1533951610326767, 0.16700614988803864, 0.1972206085920334, 0.20211690664291382, 0.2544330954551697, 0.1625957489013672, 0.1418805867433548, 0.12471164017915726], [0.24322228133678436, 0.24... | 28 |
23 | Thumbs up: extend thumb, close fingers | [[-0.005152848549187183, 0.15666231513023376, 0.14346078038215637, 0.038106974214315414, 0.12667322158813477, 0.2255183905363083, 0.025484826415777206, 0.1372009962797165, 0.24466527998447418, 0.2993316948413849, 0.13300096988677979, -0.07198956608772278, 0.13826841115951538, 0.18552443385124207], [-0.00519946310669183... | 11 |
24 | Wave: flex and extend fingers sequentially | [[0.22729359567165375, 0.2329082041978836, 0.18880832195281982, 0.08402753621339798, -0.08619962632656097, 0.06951145082712173, -0.02082379348576069, 0.033598996698856354, -0.013385353609919548, 0.1168227344751358, 0.24576792120933533, 0.14684896171092987, 0.15858888626098633, 0.060735564678907394], [0.3359758853912353... | 12 |
25 | Twist: rotate wrist while gripping | [[0.19982177019119263, 0.15671630203723907, -0.09624417126178741, 0.18582025170326233, 0.008232712745666504, 0.07817292958498001, 0.21485580503940582, 0.03472410514950752, -0.08645278960466385, 0.03700514882802963, -0.031216174364089966, 0.05997505784034729, 0.14248277246952057, 0.20650960505008698], [0.203758537769317... | 24 |
26 | Type: rapid alternating finger extensions | [[0.08485909551382065, 0.1932489424943924, 0.16105656325817108, 0.2609262466430664, -0.07931025326251984, -0.04180591553449631, 0.20467206835746765, 0.003218346508219838, 0.03395228087902069, 0.015907099470496178, 0.20536617934703827, 0.24741342663764954, 0.002190658589825034, 0.0470496341586113], [0.08616215735673904,... | 22 |
27 | Pen grip: hold thin cylinder between three fingers | [[0.1297098696231842, -0.027414759621024132, 0.2772262692451477, -0.032511599361896515, 0.16073568165302277, 0.09028226882219315, -0.061530791223049164, 0.20416860282421112, -0.0824749544262886, -0.025120403617620468, 0.08280974626541138, 0.23858021199703217, 0.1957653909921646, -0.026925768703222275], [0.1346958428621... | 21 |
28 | Key pinch: rotate key with thumb and index | [[0.16416890919208527, 0.04562247544527054, 0.1948743462562561, -0.08021305501461029, 0.21478256583213806, 0.009709183126688004, 0.02564406581223011, -0.04278741404414177, 0.11527314782142639, 0.013013583607971668, 0.26963165402412415, 0.11621981114149094, 0.22489358484745026, 0.2630668580532074], [0.15837036073207855,... | 25 |
29 | Cup fingers to scoop | [[0.10534431785345078, 0.2403445839881897, 0.1064164787530899, 0.0036198068410158157, 0.02552032098174095, 0.2674511969089508, -0.00039607842336408794, 0.1188783198595047, 0.10113878548145294, -0.09346260875463486, -0.06331927329301834, 0.2732020914554596, 0.21933779120445251, 0.029535844922065735], [0.1142124980688095... | 12 |
30 | Pinch grip: thumb and index finger close | [[-0.009157057851552963, -0.0028196140192449093, -0.03935075178742409, -0.037236135452985764, 0.25127914547920227, 0.10550163686275482, 0.05614018440246582, -0.04549991339445114, -0.0935334637761116, -0.04032645374536514, 0.041927192360162735, 0.148294135928154, 0.29395824670791626, 0.17368507385253906], [-0.0093201678... | 29 |
31 | Power grasp: all fingers wrap around cylinder | [[0.21799221634864807, 0.20843607187271118, 0.2808641493320465, 0.02584618702530861, 0.026145581156015396, -0.008722956292331219, 0.24631956219673157, -0.086708664894104, 0.10436517745256424, 0.25227341055870056, 0.177475705742836, 0.07329513877630234, 0.15900260210037231, 0.25063568353652954], [0.22048309445381165, 0.... | 16 |
32 | Precision grip: three-finger tripod on small object | [[0.1228126659989357, 0.05336272343993187, 0.13128609955310822, 0.03626880422234535, 0.007741990964859724, 0.2517351806163788, -0.05270404741168022, 0.0645299181342125, -0.06077996641397476, 0.19410006701946259, 0.16813842952251434, 0.02892192080616951, 0.06478000432252884, 0.288583368062973], [0.1217968612909317, 0.05... | 15 |
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neon-dexterous-hands-10k
Dexterous hands — 10K episodes of synthetic 14-DoF joint trajectories for Neon VLA training.
Description
Fine finger control: pinch, power grasp, precision grip, wave
Each episode contains:
language_instruction: Natural language task descriptionactions: JSON array of joint position trajectories (T × 14)length: Episode length (timesteps)
Usage
import pyarrow.parquet as pq
table = pq.read_table("data.parquet")
df = table.to_pandas()
print(f"Episodes: {len(df)}, Columns: {list(df.columns)}")
Part of Neon VLA
Training data for Neon — open-source Vision-Language-Action model for humanoid whole-body control.
Total Neon dataset collection: 160K episodes across 8 datasets (~1.27GB)
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