---
license: apache-2.0
task_categories:
  - robotics
tags:
  - RLDS
  - Open-X-Embodiment
  - TFDS
  - dexbench
  - dexterous-manipulation
pretty_name: DexBench (RLDS)
size_categories:
  - 100K<n<1M
configs:
  - config_name: single
    data_files: "single/1.0.0/dexbench_rlds-train.tfrecord-*"
  - config_name: bimanual
    data_files: "bimanual/1.0.0/dexbench_rlds-train.tfrecord-*"
---

# DexBench (RLDS)

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.

This repo contains **two variants** as sibling subdirectories — same source data + recording pipeline, different robot embodiments → separate TFDS configs:

| variant | episodes | tasks | action / state dim | wrist cameras | TFDS name |
|---|---|---|---|---|---|
| **[single](./single)** | 735 | 15 | 28 | `wrist_image` | `dexbench_rlds/single` |
| **[bimanual](./bimanual)** | 746 | 9 | 56 | `left_wrist_image` + `right_wrist_image` | `dexbench_rlds/bimanual` |

Total: 1,481 episodes, ~585k frames, 30 fps, 256×256 RGB.

**Per-episode visual randomization is disabled** — the HDRI background and table texture are fixed across all episodes for visually stable demonstrations.

## Feature schema

Both variants share the same Open-X-Embodiment step structure. Image/state/action shapes vary by variant.

```
FeaturesDict({
    'episode_metadata': FeaturesDict({
        'file_path': Text(),
        'task': Text(),
    }),
    'steps': Dataset({
        'observation': FeaturesDict({
            'image':              Image((256, 256, 3), uint8),    # third-person
            'wrist_image':        Image((256, 256, 3), uint8),    # single only
            'left_wrist_image':   Image((256, 256, 3), uint8),    # bimanual only
            'right_wrist_image':  Image((256, 256, 3), uint8),    # bimanual only
            'state':              Tensor((28 | 56,), float32),
        }),
        'action':               Tensor((28 | 56,), float32),
        'discount':             Scalar(float32),                  # always 1.0
        'reward':               Scalar(float32),                  # 1.0 on terminal success step, else 0.0
        'is_first':             Scalar(bool),
        'is_last':              Scalar(bool),
        'is_terminal':          Scalar(bool),
        'language_instruction': Text(),
    }),
})
```

## Usage

The repo layout matches the TFDS data_dir convention. Clone the full repo, then load with `tensorflow_datasets`:

```bash
mkdir -p ~/data/dexbench_rlds
hf download dexbench/rlds --repo-type dataset --local-dir ~/data/dexbench_rlds
# After: ~/data/dexbench_rlds/{single,bimanual}/1.0.0/*.tfrecord-NNNNN-of-NNNNN
```

```python
import tensorflow_datasets as tfds

# Single-hand variant
ds_s = tfds.builder("dexbench_rlds/single",   data_dir="~/data").as_dataset(split="train")
# Bimanual variant
ds_b = tfds.builder("dexbench_rlds/bimanual", data_dir="~/data").as_dataset(split="train")

for ep in ds_s.take(1):
    print(ep["episode_metadata"]["task"].numpy().decode())
    for step in ep["steps"].take(1):
        img    = step["observation"]["image"]         # (256, 256, 3) uint8
        state  = step["observation"]["state"]         # (28,) float32
        action = step["action"]                       # (28,) float32
        instr  = step["language_instruction"].numpy().decode()
```

## Tasks

### Single-hand (15)

| `task_index` | task identifier                            | language instruction                          |
| ------------ | ------------------------------------------ | --------------------------------------------- |
| 0            | Dexbench-OpenFaucet-v0                     | "open the faucet"                             |
| 1            | Dexbench-FunctionalDrillApply-v0           | "operate the power drill"                     |
| 2            | Dexbench-FunctionalHammerStrike-v0         | "strike the nail with the hammer"             |
| 3            | Dexbench-FunctionalPourCan-v0              | "pour from the can"                           |
| 4            | Dexbench-FunctionalPourMug-v0              | "pour from the mug"                           |
| 5            | Dexbench-PivotLargeCuboidAgainstWall-v0    | "pivot the large cuboid against the wall"     |
| 6            | Dexbench-TakeBookOffShelf-v0               | "take the book off the shelf"                 |
| 7            | Dexbench-GraspBleach-v0                    | "grasp the bleach bottle"                     |
| 8            | Dexbench-GraspCup-v0                       | "grasp the cup"                               |
| 9            | Dexbench-GraspKettle-v0                    | "grasp the kettle"                            |
| 10           | Dexbench-GraspPan-v0                       | "grasp the pan"                               |
| 11           | Dexbench-PickThinObjectFromContainer-v0    | "pick the thin object out of the container"   |
| 12           | Dexbench-GearMesh-v0                       | "mesh the gears together"                     |
| 13           | Dexbench-InsertPeg-v0                      | "insert the peg into the hole"                |
| 14           | Dexbench-PlugCharger-v0                    | "plug the charger into the receptacle"        |

### Bimanual (9)

| `task_index` | task identifier                                    | language instruction                |
| ------------ | -------------------------------------------------- | ----------------------------------- |
| 0            | Dexbench-FixateThenManipulate-LiftBasketHandle-v0  | "lift the basket by its handle"     |
| 1            | Dexbench-FixateThenManipulate-OpenFlatFolder-v0    | "open the flat folder"              |
| 2            | Dexbench-FixateThenManipulate-OpenHuaweiPhone-v0   | "open the phone case"               |
| 3            | Dexbench-FixateThenManipulate-OpenLaptop-v0        | "open the laptop"                   |
| 4            | Dexbench-FixateThenManipulate-OpenStapler-v0       | "open the stapler"                  |
| 5            | Dexbench-FixateThenManipulate-SlideUtilityKnife-v0 | "slide out the utility knife blade" |
| 6            | Dexbench-FixateThenManipulate-SqueezeScissors-v0   | "squeeze the scissors"              |
| 7            | Dexbench-BimanualLiftBasket-v0                     | "lift the basket with both hands"   |
| 8            | Dexbench-BimanualLiftTray-v0                       | "lift the tray with both hands"     |

Some bimanual tasks have condition variants (`_lose_startup`, `_onthetable`) merged under the base task id.

## LeRobot mirror

The same source data is also released as LeRobot v2.1 datasets, useful if you prefer that loader:

- **[dexbench/single-lerobot](https://huggingface.co/datasets/dexbench/single-lerobot)** — single-hand
- **[dexbench/bimanual-lerobot](https://huggingface.co/datasets/dexbench/bimanual-lerobot)** — bimanual

## Source

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).

## License

Apache-2.0. Defers to upstream DexBench terms for the underlying assets and teleop data.