DexMimicGen: Automated Data Generation for Bimanual Dexterous Manipulation via Imitation Learning
Paper • 2410.24185 • Published
sample_id stringlengths 32 32 | group_id stringlengths 32 32 | split stringclasses 1
value | source_dataset stringclasses 1
value | task stringclasses 6
values | coordinate_space stringclasses 1
value | point_names listlengths 2 2 | n_hist int64 8 8 | n_fut int64 8 8 | forecast_arm_count int64 2 2 | history listlengths 2 2 | anchor listlengths 2 2 | future_delta listlengths 2 2 |
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[
-47... |
2f0e486af94de0493d302516001bbb1c | e08f13f6fa88b3a5abe73d9f5f202557 | train | DexMimicGen | two_arm_box_cleanup | normalized_1000_anchor_delta | [
"left_eef_origin",
"right_eef_origin"
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[
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26e92ff461c0b2ff8576bed9685e3780 | 9de21f2fcc68565aff3ac9090ffa9a57 | train | DexMimicGen | two_arm_box_cleanup | normalized_1000_anchor_delta | [
"left_eef_origin",
"right_eef_origin"
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8b20f862b8d48a47d42dbc1b074c633d | 2f4ee4ef12bec67b1dddff6398d44842 | train | DexMimicGen | two_arm_box_cleanup | normalized_1000_anchor_delta | [
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"right_eef_origin"
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28056fc5fa2904315b3751203f07864f | 430dea74845745b779ab42c4befecf38 | train | DexMimicGen | two_arm_box_cleanup | normalized_1000_anchor_delta | [
"left_eef_origin",
"right_eef_origin"
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4e9410c32a993094eeefedb5cc896e55 | 430dea74845745b779ab42c4befecf38 | train | DexMimicGen | two_arm_box_cleanup | normalized_1000_anchor_delta | [
"left_eef_origin",
"right_eef_origin"
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[
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914a4e57fe8d972fcffb66265bfa3cb5 | 5f1727044cf6bae5d4212c18db0d1a84 | train | DexMimicGen | two_arm_box_cleanup | normalized_1000_anchor_delta | [
"left_eef_origin",
"right_eef_origin"
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[
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624ac785a07f0e55e960c8c4e8ee6a59 | 5f1727044cf6bae5d4212c18db0d1a84 | train | DexMimicGen | two_arm_box_cleanup | normalized_1000_anchor_delta | [
"left_eef_origin",
"right_eef_origin"
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[
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ef5f2c05ac233d7cea4effb2ca6bf43c | 1a7b73d8d23cc9a761825d9b381ec8fe | train | DexMimicGen | two_arm_box_cleanup | normalized_1000_anchor_delta | [
"left_eef_origin",
"right_eef_origin"
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[
-4... |
2bd0d63d189befddb0874c663e753d99 | 4454770420daa181bf34518b528b26bb | train | DexMimicGen | two_arm_box_cleanup | normalized_1000_anchor_delta | [
"left_eef_origin",
"right_eef_origin"
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[
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70b8c1ec2ded62c7bda7bf8fdb947bea | 4454770420daa181bf34518b528b26bb | train | DexMimicGen | two_arm_box_cleanup | normalized_1000_anchor_delta | [
"left_eef_origin",
"right_eef_origin"
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[
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2868aeaf1702b9ea6a91b3156696e1fd | d64e5e3d9a35b6422b97f7b3750345bb | train | DexMimicGen | two_arm_box_cleanup | normalized_1000_anchor_delta | [
"left_eef_origin",
"right_eef_origin"
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[
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a4d6ec9d2a15bcc6a40e4b5368625c98 | d64e5e3d9a35b6422b97f7b3750345bb | train | DexMimicGen | two_arm_box_cleanup | normalized_1000_anchor_delta | [
"left_eef_origin",
"right_eef_origin"
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e906c447b06768684b90ff1cd9c15276 | d64e5e3d9a35b6422b97f7b3750345bb | train | DexMimicGen | two_arm_box_cleanup | normalized_1000_anchor_delta | [
"left_eef_origin",
"right_eef_origin"
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c9827e05fea1907abaf6653d308f257d | 63aa79787a3a94ce48496528f0bf71d7 | train | DexMimicGen | two_arm_box_cleanup | normalized_1000_anchor_delta | [
"left_eef_origin",
"right_eef_origin"
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[
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9d0d645377afdb81df4c13aaf98ccee8 | 63aa79787a3a94ce48496528f0bf71d7 | train | DexMimicGen | two_arm_box_cleanup | normalized_1000_anchor_delta | [
"left_eef_origin",
"right_eef_origin"
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[
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[
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56da0d5a0a0d1dafb4a03a0f306f3b56 | e25fbeaef236a52e12adbe14cfbe9e59 | train | DexMimicGen | two_arm_box_cleanup | normalized_1000_anchor_delta | [
"left_eef_origin",
"right_eef_origin"
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-1... |
4d9850c2b7453533acb9567d7a29bd94 | e25fbeaef236a52e12adbe14cfbe9e59 | train | DexMimicGen | two_arm_box_cleanup | normalized_1000_anchor_delta | [
"left_eef_origin",
"right_eef_origin"
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[
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[
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14d5da8290a7489fec9474bb3d4a0b56 | 62cca7036e385bd71f71a137504a65dc | train | DexMimicGen | two_arm_box_cleanup | normalized_1000_anchor_delta | [
"left_eef_origin",
"right_eef_origin"
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[
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ad80a4aab6492f35177a4306c3f5b36d | bc6787040ac51b7a16f7c3dcf7e72457 | train | DexMimicGen | two_arm_box_cleanup | normalized_1000_anchor_delta | [
"left_eef_origin",
"right_eef_origin"
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[
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[
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cf4fb94e7997f72fb6476bc466a6a6c4 | de1747599687d0325b3a022c9a37306c | train | DexMimicGen | two_arm_box_cleanup | normalized_1000_anchor_delta | [
"left_eef_origin",
"right_eef_origin"
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[
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[
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[
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5971b102e82873491e75b617890ec71c | de1747599687d0325b3a022c9a37306c | train | DexMimicGen | two_arm_box_cleanup | normalized_1000_anchor_delta | [
"left_eef_origin",
"right_eef_origin"
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"right_eef_origin"
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"right_eef_origin"
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"right_eef_origin"
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572e635a3d68f2eab173f3a037b6a3c0 | 88d499cbb56eec907d8a3fee93887217 | train | DexMimicGen | two_arm_box_cleanup | normalized_1000_anchor_delta | [
"left_eef_origin",
"right_eef_origin"
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22456c38ce49097a72f49a2a3ff693ad | 88d499cbb56eec907d8a3fee93887217 | train | DexMimicGen | two_arm_box_cleanup | normalized_1000_anchor_delta | [
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"right_eef_origin"
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93... |
38f737918866b7099f336d494f64cff2 | 606f56fb096bc984edbfe5bdda925cf3 | train | DexMimicGen | two_arm_box_cleanup | normalized_1000_anchor_delta | [
"left_eef_origin",
"right_eef_origin"
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[
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749a6e34dd6c916b588033717ec3e654 | 4228819db7bc6c4ca174b653e8720e6c | train | DexMimicGen | two_arm_box_cleanup | normalized_1000_anchor_delta | [
"left_eef_origin",
"right_eef_origin"
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d30b8c173d1aac09decec812522b5704 | fd52e3a28b8c374a48c48c0769e00a09 | train | DexMimicGen | two_arm_box_cleanup | normalized_1000_anchor_delta | [
"left_eef_origin",
"right_eef_origin"
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bf6e7895ae4f2bba1cc818a4e1f6218e | fd52e3a28b8c374a48c48c0769e00a09 | train | DexMimicGen | two_arm_box_cleanup | normalized_1000_anchor_delta | [
"left_eef_origin",
"right_eef_origin"
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[
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83ae00776383cfdb6a35150d9652c7d1 | fd52e3a28b8c374a48c48c0769e00a09 | train | DexMimicGen | two_arm_box_cleanup | normalized_1000_anchor_delta | [
"left_eef_origin",
"right_eef_origin"
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73351c9588d80cbad8df849869fcaa4f | e05017b0f74239ec0dfec02ebd412af4 | train | DexMimicGen | two_arm_box_cleanup | normalized_1000_anchor_delta | [
"left_eef_origin",
"right_eef_origin"
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00775d0f400f4ce7550d7b2e9824ad7a | e05017b0f74239ec0dfec02ebd412af4 | train | DexMimicGen | two_arm_box_cleanup | normalized_1000_anchor_delta | [
"left_eef_origin",
"right_eef_origin"
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"left_eef_origin",
"right_eef_origin"
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[
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23b44a898ece761fed1e90d61b3f01b8 | 01f9e10b1fba34c71a521045a00f6817 | train | DexMimicGen | two_arm_box_cleanup | normalized_1000_anchor_delta | [
"left_eef_origin",
"right_eef_origin"
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[
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626b82004dbf08348ea2b84784dbc0f3 | 515e2271af2cd18806acb06f063a5291 | train | DexMimicGen | two_arm_box_cleanup | normalized_1000_anchor_delta | [
"left_eef_origin",
"right_eef_origin"
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[
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6312c5084b43cb1bb5ea41c678926b33 | 515e2271af2cd18806acb06f063a5291 | train | DexMimicGen | two_arm_box_cleanup | normalized_1000_anchor_delta | [
"left_eef_origin",
"right_eef_origin"
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[
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730cbae536dbe49d51c4da6c3dd3e13b | 515e2271af2cd18806acb06f063a5291 | train | DexMimicGen | two_arm_box_cleanup | normalized_1000_anchor_delta | [
"left_eef_origin",
"right_eef_origin"
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[
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0ffbb0b504f9d37c193e5a85fd2ee363 | af04d88c3cb1a0f6764363569fe191ce | train | DexMimicGen | two_arm_box_cleanup | normalized_1000_anchor_delta | [
"left_eef_origin",
"right_eef_origin"
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[
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9e200e4e53b014c74326407b93e15112 | af04d88c3cb1a0f6764363569fe191ce | train | DexMimicGen | two_arm_box_cleanup | normalized_1000_anchor_delta | [
"left_eef_origin",
"right_eef_origin"
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[
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[
8... |
3c0f8d5273d80402996824e7ddb27ecf | 9a77917e30e22b6cb595ac47c3d12a42 | train | DexMimicGen | two_arm_box_cleanup | normalized_1000_anchor_delta | [
"left_eef_origin",
"right_eef_origin"
] | 8 | 8 | 2 | [
[
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"right_eef_origin"
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35d166fa206375b06b953229d296d68e | 64ed65cf85a85858fcaf9ca79c3b096a | train | DexMimicGen | two_arm_box_cleanup | normalized_1000_anchor_delta | [
"left_eef_origin",
"right_eef_origin"
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"right_eef_origin"
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38e1c19cbbe77baf739378ad80a7ff45 | 60eae49634869ece2abbe650669ba601 | train | DexMimicGen | two_arm_box_cleanup | normalized_1000_anchor_delta | [
"left_eef_origin",
"right_eef_origin"
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"right_eef_origin"
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c75ab3839180161ea85f7239db1723af | 1dd55f352ec6c39046b983b31ecddf12 | train | DexMimicGen | two_arm_box_cleanup | normalized_1000_anchor_delta | [
"left_eef_origin",
"right_eef_origin"
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3cfb968a8d74a5e7589be196e46bd458 | 1dd55f352ec6c39046b983b31ecddf12 | train | DexMimicGen | two_arm_box_cleanup | normalized_1000_anchor_delta | [
"left_eef_origin",
"right_eef_origin"
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"left_eef_origin",
"right_eef_origin"
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"left_eef_origin",
"right_eef_origin"
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b67f812231270a0bf10f863f5b7763d0 | 5d7c97fce985915153f18050023cda2b | train | DexMimicGen | two_arm_box_cleanup | normalized_1000_anchor_delta | [
"left_eef_origin",
"right_eef_origin"
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4cf72b026976d32aad24c12c73316d82 | da2da4433571b36fcf4858878629e5ff | train | DexMimicGen | two_arm_box_cleanup | normalized_1000_anchor_delta | [
"left_eef_origin",
"right_eef_origin"
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2f260e1b971680700b8e3d99af674a37 | da2da4433571b36fcf4858878629e5ff | train | DexMimicGen | two_arm_box_cleanup | normalized_1000_anchor_delta | [
"left_eef_origin",
"right_eef_origin"
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95e659c4cfbefb8ce727bb5b8665c5cf | be44e3864983a2e311d25fe7dfa51753 | train | DexMimicGen | two_arm_box_cleanup | normalized_1000_anchor_delta | [
"left_eef_origin",
"right_eef_origin"
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End of preview. Expand in Data Studio
Privacy-minimized DexMimicGen trajectory derivatives
This is a limited public numerical/diagram release, NOT the complete 356GB visual dataset. It contains 4,191 train and 1,408 heldout records derived from the licensed DexMimicGen simulation data, and eight newly drawn GIF/MP4 ground-truth trajectory diagrams. The diagrams are not original footage, not model predictions, and not camera frames.
Privacy boundary
No original RGB/NPZ/video/audio, source filenames/paths, original IDs, timestamps, free-text captions/instructions/CoT, account metadata, credentials or weights are included. IDs and episode-group IDs are replaced with random-key HMAC pseudonyms; the key and mapping are retained only outside the release. Numerical arrays, public benchmark task names, left/right EEF identity and train/heldout split are allowlisted and schema-checked.
This release deliberately excludes sensitive source channels rather than claiming that face blur/OCR makes every original dataset fully anonymous. It is not a substitute for image-conditioned VLM training data, because no source image/video input is provided. The 356GB original collection and the existing HF model repositories were not made public.
Data format
data/train.jsonl, data/heldout.jsonl:
history: [arm=2][time=8][xy=2], normalized image-grid coordinates in [0,1000].anchor: the last observed XY for each arm.future_delta: [2][8][2], normalized-1000 offsets from the corresponding anchor.point_names: left/right local EEF origins, not five legacy body points.sample_id,group_id: pseudonyms, not source sample/episode identifiers.
No new training or model/teacher API calls were performed. Ground-truth diagrams do not measure prediction accuracy. Source task splits and fixed-origin annotation choices are retained; this derived split is not asserted to be the official original benchmark split.
Examples — drawn from coordinates only
MP4 diagram. All eight examples are listed in previews/manifest.json.
Licensing and attribution
Source: DexMimicGen / NVIDIA and collaborators, HF source dataset. Please cite DexMimicGen: Automated Data Generation for Bimanual Dexterous Manipulation via Imitation Learning (https://arxiv.org/abs/2410.24185).
The software README says dataset CC-BY 4.0; the source HF card declares CC-BY-NC-SA 4.0. This public derivative follows the more restrictive HF card: attribution, non-commercial use, share-alike. See LICENSE. No original source pixels or dataset archive is rehosted; modifications include local-EEF reprojection, coordinate-format selection, identifier replacement and sensitive-field exclusion.
Ego-Exo4D, FSD, ShareRobot and the other raw visual data are withheld pending redistribution permission checks and a separate full visual/privacy review. Their being downloadable does not automatically grant redistribution permission. No full-dataset anonymization guarantee is made.
Verification
SANITIZATION_REPORT.json documents the allowlist and exclusions. Export/render source
is provided in tools/ without personal machine paths, secrets or pseudonym mappings.
PUBLIC_RELEASE_MANIFEST.json / CHECKSUMS.sha256 provide file sizes and hashes.
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