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Datasets:
dexbench
/
rlds

Tasks:
Robotics
Size:
100K<n<1M
Tags:
RLDS
Open-X-Embodiment
TFDS
dexbench
dexterous-manipulation
License:
Dataset card Files
xet
 Community
Alan0928 commited on
Commit
298c1e7
·
verified ·
1 Parent(s): 8279ca8

v2: 735 single (15 tasks, added HammerStrike) + 746 bimanual (9 tasks); fixed bg/texture; closer camera (45° pitch); regenerated from sequential replay

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  1. .config/metadata.json +1 -0
  2. .gitattributes +192 -0
  3. README.md +143 -0
  4. bimanual/1.0.0/dataset_info.json +154 -0
  5. bimanual/1.0.0/dexbench_rlds-train.tfrecord-00000-of-00128 +3 -0
  6. bimanual/1.0.0/dexbench_rlds-train.tfrecord-00001-of-00128 +3 -0
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  15. bimanual/1.0.0/dexbench_rlds-train.tfrecord-00010-of-00128 +3 -0
  16. bimanual/1.0.0/dexbench_rlds-train.tfrecord-00011-of-00128 +3 -0
  17. bimanual/1.0.0/dexbench_rlds-train.tfrecord-00012-of-00128 +3 -0
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  20. bimanual/1.0.0/dexbench_rlds-train.tfrecord-00015-of-00128 +3 -0
  21. bimanual/1.0.0/dexbench_rlds-train.tfrecord-00016-of-00128 +3 -0
  22. bimanual/1.0.0/dexbench_rlds-train.tfrecord-00017-of-00128 +3 -0
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  28. bimanual/1.0.0/dexbench_rlds-train.tfrecord-00023-of-00128 +3 -0
  29. bimanual/1.0.0/dexbench_rlds-train.tfrecord-00024-of-00128 +3 -0
  30. bimanual/1.0.0/dexbench_rlds-train.tfrecord-00025-of-00128 +3 -0
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  36. bimanual/1.0.0/dexbench_rlds-train.tfrecord-00031-of-00128 +3 -0
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  39. bimanual/1.0.0/dexbench_rlds-train.tfrecord-00034-of-00128 +3 -0
  40. bimanual/1.0.0/dexbench_rlds-train.tfrecord-00035-of-00128 +3 -0
  41. bimanual/1.0.0/dexbench_rlds-train.tfrecord-00036-of-00128 +3 -0
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  50. bimanual/1.0.0/dexbench_rlds-train.tfrecord-00045-of-00128 +3 -0
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184
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190
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193
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194
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195
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196
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197
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203
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208
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README.md ADDED
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1
+ ---
2
+ license: apache-2.0
3
+ task_categories:
4
+ - robotics
5
+ tags:
6
+ - RLDS
7
+ - Open-X-Embodiment
8
+ - TFDS
9
+ - dexbench
10
+ - dexterous-manipulation
11
+ pretty_name: DexBench (RLDS)
12
+ size_categories:
13
+ - 100K<n<1M
14
+ configs:
15
+ - config_name: single
16
+ data_files: "single/1.0.0/dexbench_rlds-train.tfrecord-*"
17
+ - config_name: bimanual
18
+ data_files: "bimanual/1.0.0/dexbench_rlds-train.tfrecord-*"
19
+ ---
20
+
21
+ # DexBench (RLDS)
22
+
23
+ DexBench dexterous manipulation demonstrations replayed through Isaac Lab, packaged as **Open-X-Embodiment-style RLDS / TFDS** datasets. Each frame: third-person + wrist RGB at 256×256, proprioception, joint-space action, and a natural-language instruction.
24
+
25
+ This repo contains **two variants** as sibling subdirectories — same source data + recording pipeline, different robot embodiments → separate TFDS configs:
26
+
27
+ | variant | episodes | tasks | action / state dim | wrist cameras | TFDS name |
28
+ |---|---|---|---|---|---|
29
+ | **[single](./single)** | 735 | 15 | 28 | `wrist_image` | `dexbench_rlds/single` |
30
+ | **[bimanual](./bimanual)** | 746 | 9 | 56 | `left_wrist_image` + `right_wrist_image` | `dexbench_rlds/bimanual` |
31
+
32
+ Total: 1,481 episodes, ~585k frames, 30 fps, 256×256 RGB.
33
+
34
+ **Per-episode visual randomization is disabled** — the HDRI background and table texture are fixed across all episodes for visually stable demonstrations.
35
+
36
+ ## Feature schema
37
+
38
+ Both variants share the same Open-X-Embodiment step structure. Image/state/action shapes vary by variant.
39
+
40
+ ```
41
+ FeaturesDict({
42
+ 'episode_metadata': FeaturesDict({
43
+ 'file_path': Text(),
44
+ 'task': Text(),
45
+ }),
46
+ 'steps': Dataset({
47
+ 'observation': FeaturesDict({
48
+ 'image': Image((256, 256, 3), uint8), # third-person
49
+ 'wrist_image': Image((256, 256, 3), uint8), # single only
50
+ 'left_wrist_image': Image((256, 256, 3), uint8), # bimanual only
51
+ 'right_wrist_image': Image((256, 256, 3), uint8), # bimanual only
52
+ 'state': Tensor((28 | 56,), float32),
53
+ }),
54
+ 'action': Tensor((28 | 56,), float32),
55
+ 'discount': Scalar(float32), # always 1.0
56
+ 'reward': Scalar(float32), # 1.0 on terminal success step, else 0.0
57
+ 'is_first': Scalar(bool),
58
+ 'is_last': Scalar(bool),
59
+ 'is_terminal': Scalar(bool),
60
+ 'language_instruction': Text(),
61
+ }),
62
+ })
63
+ ```
64
+
65
+ ## Usage
66
+
67
+ The repo layout matches the TFDS data_dir convention. Clone the full repo, then load with `tensorflow_datasets`:
68
+
69
+ ```bash
70
+ mkdir -p ~/data/dexbench_rlds
71
+ hf download dexbench/rlds --repo-type dataset --local-dir ~/data/dexbench_rlds
72
+ # After: ~/data/dexbench_rlds/{single,bimanual}/1.0.0/*.tfrecord-NNNNN-of-NNNNN
73
+ ```
74
+
75
+ ```python
76
+ import tensorflow_datasets as tfds
77
+
78
+ # Single-hand variant
79
+ ds_s = tfds.builder("dexbench_rlds/single", data_dir="~/data").as_dataset(split="train")
80
+ # Bimanual variant
81
+ ds_b = tfds.builder("dexbench_rlds/bimanual", data_dir="~/data").as_dataset(split="train")
82
+
83
+ for ep in ds_s.take(1):
84
+ print(ep["episode_metadata"]["task"].numpy().decode())
85
+ for step in ep["steps"].take(1):
86
+ img = step["observation"]["image"] # (256, 256, 3) uint8
87
+ state = step["observation"]["state"] # (28,) float32
88
+ action = step["action"] # (28,) float32
89
+ instr = step["language_instruction"].numpy().decode()
90
+ ```
91
+
92
+ ## Tasks
93
+
94
+ ### Single-hand (15)
95
+
96
+ | `task_index` | task identifier | language instruction |
97
+ | ------------ | ------------------------------------------ | --------------------------------------------- |
98
+ | 0 | Dexbench-OpenFaucet-v0 | "open the faucet" |
99
+ | 1 | Dexbench-FunctionalDrillApply-v0 | "operate the power drill" |
100
+ | 2 | Dexbench-FunctionalHammerStrike-v0 | "strike the nail with the hammer" |
101
+ | 3 | Dexbench-FunctionalPourCan-v0 | "pour from the can" |
102
+ | 4 | Dexbench-FunctionalPourMug-v0 | "pour from the mug" |
103
+ | 5 | Dexbench-PivotLargeCuboidAgainstWall-v0 | "pivot the large cuboid against the wall" |
104
+ | 6 | Dexbench-TakeBookOffShelf-v0 | "take the book off the shelf" |
105
+ | 7 | Dexbench-GraspBleach-v0 | "grasp the bleach bottle" |
106
+ | 8 | Dexbench-GraspCup-v0 | "grasp the cup" |
107
+ | 9 | Dexbench-GraspKettle-v0 | "grasp the kettle" |
108
+ | 10 | Dexbench-GraspPan-v0 | "grasp the pan" |
109
+ | 11 | Dexbench-PickThinObjectFromContainer-v0 | "pick the thin object out of the container" |
110
+ | 12 | Dexbench-GearMesh-v0 | "mesh the gears together" |
111
+ | 13 | Dexbench-InsertPeg-v0 | "insert the peg into the hole" |
112
+ | 14 | Dexbench-PlugCharger-v0 | "plug the charger into the receptacle" |
113
+
114
+ ### Bimanual (9)
115
+
116
+ | `task_index` | task identifier | language instruction |
117
+ | ------------ | -------------------------------------------------- | ----------------------------------- |
118
+ | 0 | Dexbench-FixateThenManipulate-LiftBasketHandle-v0 | "lift the basket by its handle" |
119
+ | 1 | Dexbench-FixateThenManipulate-OpenFlatFolder-v0 | "open the flat folder" |
120
+ | 2 | Dexbench-FixateThenManipulate-OpenHuaweiPhone-v0 | "open the phone case" |
121
+ | 3 | Dexbench-FixateThenManipulate-OpenLaptop-v0 | "open the laptop" |
122
+ | 4 | Dexbench-FixateThenManipulate-OpenStapler-v0 | "open the stapler" |
123
+ | 5 | Dexbench-FixateThenManipulate-SlideUtilityKnife-v0 | "slide out the utility knife blade" |
124
+ | 6 | Dexbench-FixateThenManipulate-SqueezeScissors-v0 | "squeeze the scissors" |
125
+ | 7 | Dexbench-BimanualLiftBasket-v0 | "lift the basket with both hands" |
126
+ | 8 | Dexbench-BimanualLiftTray-v0 | "lift the tray with both hands" |
127
+
128
+ Some bimanual tasks have condition variants (`_lose_startup`, `_onthetable`) merged under the base task id.
129
+
130
+ ## LeRobot mirror
131
+
132
+ The same source data is also released as LeRobot v2.1 datasets, useful if you prefer that loader:
133
+
134
+ - **[dexbench/single-lerobot](https://huggingface.co/datasets/dexbench/single-lerobot)** — single-hand
135
+ - **[dexbench/bimanual-lerobot](https://huggingface.co/datasets/dexbench/bimanual-lerobot)** — bimanual
136
+
137
+ ## Source
138
+
139
+ Replayed from teleop trajectory pickles in the gated [`dexbench/DexBench_dataset`](https://huggingface.co/datasets/dexbench/DexBench_dataset) repo using DexBench's `scripts/create_demo_files_sequential.py` (one Isaac Sim env per task, episodes replayed serially within the env, per-episode HDRI / table-texture randomizers disabled). Then converted with `scripts/convert_to_rlds.py` (jpeg-in-tfrecord).
140
+
141
+ ## License
142
+
143
+ Apache-2.0. Defers to upstream DexBench terms for the underlying assets and teleop data.
bimanual/1.0.0/dataset_info.json ADDED
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+ {
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+ "configDescription": "Bimanual subset (56d action/state, third_person + left/right wrist).",
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+ "configName": "bimanual",
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+ "description": "DexBench dexterous manipulation demonstrations replayed through Isaac Lab. Open-X-Embodiment-style RLDS. Each frame: third-person RGB + wrist RGB(s) at 256x256 @ 30 fps, proprioceptive joint state, joint-space action, and a natural-language task instruction.",
5
+ "fileFormat": "tfrecord",
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+ "location": {
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+ "urls": [
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+ "https://huggingface.co/datasets/dexbench/DexBench_dataset"
9
+ ]
10
+ },
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+ "moduleName": "__main__",
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+ "name": "dexbench_rlds",
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+ "releaseNotes": {
14
+ "1.0.0": "Initial release."
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+ },
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+ "splits": [
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+ {
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+ "filepathTemplate": "{DATASET}-{SPLIT}.{FILEFORMAT}-{SHARD_X_OF_Y}",
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+ "name": "train",
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+ "numBytes": "12519947596",
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