| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - dexbench |
| - dexterous-manipulation |
| - single-hand |
| pretty_name: DexBench Single-Hand |
| size_categories: |
| - 100K<n<1M |
| --- |
| |
| # DexBench — Single-Hand |
|
|
| Single-hand dexterous manipulation demonstrations from **DexBench**, replayed through Isaac Lab and packaged as a LeRobot v2.1 dataset. Each frame ships with third-person + wrist RGB video (256×256 @ 30 fps), proprioception, and the corresponding joint-space action. |
|
|
| ## Summary |
|
|
| | | | |
| | ------------------------------ | ------------------------------------------------ | |
| | Episodes | **735** | |
| | Frames | **287,019** | |
| | Tasks | **15** | |
| | FPS | **30** | |
| | Camera resolution | 256 × 256 | |
| | Robot | Floating-base Shadow Dexterous Hand (right) | |
| | LeRobot codebase version | v2.1 | |
| | Per-episode visual randomization | **disabled** (fixed HDRI background + table texture across all episodes) | |
|
|
| ## Feature schema |
|
|
| | Feature | dtype | shape | |
| | ---------------------------------- | --------------- | ------------- | |
| | `observation.state` | float32 | (28,) | |
| | `observation.images.third_person` | video (h264) | (256, 256, 3) | |
| | `observation.images.wrist` | video (h264) | (256, 256, 3) | |
| | `action` | float32 | (28,) | |
|
|
| ## Tasks |
|
|
| | `task_index` | name | |
| | ------------ | ------------------------------------------ | |
| | 0 | Dexbench-OpenFaucet-v0 | |
| | 1 | Dexbench-FunctionalDrillApply-v0 | |
| | 2 | Dexbench-FunctionalHammerStrike-v0 | |
| | 3 | Dexbench-FunctionalPourCan-v0 | |
| | 4 | Dexbench-FunctionalPourMug-v0 | |
| | 5 | Dexbench-PivotLargeCuboidAgainstWall-v0 | |
| | 6 | Dexbench-TakeBookOffShelf-v0 | |
| | 7 | Dexbench-GraspBleach-v0 | |
| | 8 | Dexbench-GraspCup-v0 | |
| | 9 | Dexbench-GraspKettle-v0 | |
| | 10 | Dexbench-GraspPan-v0 | |
| | 11 | Dexbench-PickThinObjectFromContainer-v0 | |
| | 12 | Dexbench-GearMesh-v0 | |
| | 13 | Dexbench-InsertPeg-v0 | |
| | 14 | Dexbench-PlugCharger-v0 | |
|
|
| ## Usage |
|
|
| ```python |
| from lerobot.common.datasets.lerobot_dataset import LeRobotDataset |
| |
| ds = LeRobotDataset("dexbench/single-lerobot") |
| print(ds.num_episodes, ds.num_frames) |
| |
| frame = ds[0] |
| # frame["observation.state"], frame["action"]: torch.Tensor(28,) |
| # frame["observation.images.third_person"], frame["observation.images.wrist"]: torch.Tensor(3, 256, 256) |
| # frame["task"]: str (one of the 15 task ids above) |
| ``` |
|
|
| ## Companion dataset |
|
|
| - **[dexbench/bimanual-lerobot](https://huggingface.co/datasets/dexbench/bimanual-lerobot)** — bimanual subset (746 ep, 56-dim action, additional left/right wrist cameras). |
|
|
| ## Source |
|
|
| Replayed from teleop trajectory pickles in the gated [`dexbench/DexBench_dataset`](https://huggingface.co/datasets/dexbench/DexBench_dataset) repo (`teleop_dataset/{rigid, articulation, dexterous, grasping}/...`) 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 for visually stable demos). Then converted with `scripts/convert_to_lerobot.py` (h264 video at CRF 18). |
|
|
| ## License |
|
|
| Apache-2.0. Defers to upstream DexBench terms for the underlying assets and teleop data. |
|
|
