zzzzzjhhh/robot-dex

Robot Dex

Robot Dex is a compact multi-robot dexterous manipulation dataset prepared in LeRobot v3 format. It is intended for client evaluation of robot demonstration data across humanoid and dexterous-hand platforms, with synchronized robot state/action trajectories and multi-view video observations.

The dataset is organized by robot type and task:

• A2/medical_item_organizing_fixed_a2
• GR2/cup_plate_water_pouring_fixed_gr2
• kuavo4pro_linker_hand_l6/clean_up_desktop_items_p4_linker_hand_l6

Dataset Summary

Robot	Task	Episodes	Frames	FPS	State / Action	Video Streams
A2	Organize medical items in a fixed setup	2	3,001	30	28-D / 28-D	chest_left, chest_right, head_front
GR2	Pour water using cups and plates in a fixed setup	2	3,082	30	55-D / 55-D	head_left, head_right
kuavo4pro_linker_hand_l6	Clean-up desktop items-P4-Linker Hand L6	5	3,001	10	26-D / 26-D	head_cam_h, wrist_cam_l, wrist_cam_r

Total: 9 episodes and 9,084 frames.

Modalities

The dataset includes:

• Robot state and action trajectories stored as LeRobot frame-level data.
• H.264 MP4 video streams stored under each task's videos/ directory.
• Episode boundary metadata under each task's meta/episodes/ directory.
• Task labels under meta/tasks.parquet.
• Per-task dataset metadata under meta/info.json and meta/stats.json.

For the A2 and GR2 tasks, meta/source_manifest.json also records the original source files, robot manufacturer, robot model, camera stream list, frame count, and state/action width.

Video Observations

Robot	Stream	Resolution
A2	chest_left	640 x 480
A2	chest_right	640 x 480
A2	head_front	1280 x 720
GR2	head_left	640 x 480
GR2	head_right	640 x 480
kuavo4pro_linker_hand_l6	head_cam_h	848 x 480
kuavo4pro_linker_hand_l6	wrist_cam_l	848 x 480
kuavo4pro_linker_hand_l6	wrist_cam_r	848 x 480

Format

Each task folder follows the LeRobot v3 layout:

• data/chunk-000/file-000.parquet
• meta/info.json
• meta/stats.json
• meta/tasks.parquet
• meta/episodes/chunk-000/file-000.parquet
• videos/<observation.images.*>/chunk-000/file-000.mp4

LeRobot may pack multiple logical episodes into the same physical Parquet or MP4 chunk. Episode boundaries remain explicit in the metadata.