datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
Dexora_Real-World_Dataset
Dexora: Open-Source VLA for High-DoF Bimanual Dexterity
🔥 News & Updates
2025-12-03: Released the full Real-World Dataset (12.2K episodes) on Hugging Face.
2025-12-12: Released the task-level view of the Real-World Dataset (one folder per high-level task) on Hugging Face.
Coming soon: We will open-source the full 100K-episode simulation dataset.
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📊 Dataset Overview
The Dexora corpus combines high-fidelity real-world teleoperation data with… See the full description on the dataset page: https://huggingface.co/datasets/Dexora/Dexora_Real-World_Dataset.video-to-data-robot-dexterity-task-library-and-dataset
Video to Data: Robot Dexterity Task Library and Dataset
Dataset Description
This dataset contains samples of human demonstrations on manipulation tasks retargeted to bimanual Sharpa robot hands and episodes of robot executions that mimic the original human demonstrations. The former allows a Video to Data user to easily experiment with the Video to Data grounding pipeline, and the latter is an example of the grounded robot data that can be generated with the Video… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/video-to-data-robot-dexterity-task-library-and-dataset.Dexterity-BEV
Dexterity-BEV: Aligning 3D World and Actions for Generalizable Robot Policies Learning
[arXiv][Paper][Project][Blog][Technical-Report]
✅️ Datasets for Our Real-World Dexterous Bimanual Robotic Manipulation Experiments
⓵ Agilex Bimanual Platform - Task Fold Mailer Box: Agilex-FoldMailerBox (~159.8 GB) / demos_list-1623.txt
⓶ Agilex Bimanual Platform - Task Fold Cloth: Agilex-FoldCloth (~44.4 GB) / demos_list-377.txt… See the full description on the dataset page: https://huggingface.co/datasets/HoyerChou/Dexterity-BEV.DexYCBSimulation_asset_datasetDexJoCo-Datasets-Raw
Dataset Card for DexJoCo
This dataset provides the raw data for DexJoCo: A Benchmark and Toolkit for Task-Oriented Dexterous Manipulation on MuJoCo.
See more at:
Hugging Face Paper: https://huggingface.co/papers/2605.16257
arXiv Paper: https://arxiv.org/abs/2605.16257
GitHub: https://github.com/brave-eai/dexjoco
BibTeX:
@misc{wang2026dexjocobenchmarktoolkittaskoriented,
title={DexJoCo: A Benchmark and Toolkit for Task-Oriented Dexterous Manipulation on MuJoCo}… See the full description on the dataset page: https://huggingface.co/datasets/DexJoCo/DexJoCo-Datasets-Raw.dexwild-dataset
Tony Tao*, Mohan Kumar Srirama*, Jason Jingzhou Liu, Kenneth Shaw, Deepak Pathak
Robotics: Science and Systems (RSS) 2025
[Project page] [Video] [ArXiv]
[Main Code Repo] [Policy Training]
[Hardware Guide] [Data Collection Guide]
Data Breakdown
The DexWild dataset is one of the largest, high quality human dexterous hand datasets with a huge diversity of objects and environments. In total, we collect 9,505 Episodes across 5 tasks and 93 environments. 33+ Hours… See the full description on the dataset page: https://huggingface.co/datasets/boardd/dexwild-dataset.progressive-cognitive-resultsG1_Dex1_ToolboxStorageembodichain_datasolana-dex-execution
Solana DEX quotes and routing
Jupiter swap quotes at fixed SOL input sizes, with the route legs returned for each quote. The panel supports comparisons of quoted output, reported price impact and routing across sizes and observation times.
Contents
Table
Record
solana_swap_quotes
A pair and input amount, with quoted output, price impact, value and route-leg count
solana_swap_routes
A leg of the chosen route, including venue, amounts and allocation… See the full description on the dataset page: https://huggingface.co/datasets/dataforge-labs/solana-dex-execution.DexJoCo-Datasets-LeRobot
Dataset Card for DexJoCo
This dataset provides the LeRobot format dataset for DexJoCo: A Benchmark and Toolkit for Task-Oriented Dexterous Manipulation on MuJoCo.
See more at:
Hugging Face Paper: https://huggingface.co/papers/2605.16257
arXiv Paper: https://arxiv.org/abs/2605.16257
GitHub: https://github.com/brave-eai/dexjoco
BibTeX:
@misc{wang2026dexjocobenchmarktoolkittaskoriented,
title={DexJoCo: A Benchmark and Toolkit for Task-Oriented Dexterous Manipulation on MuJoCo}… See the full description on the dataset page: https://huggingface.co/datasets/DexJoCo/DexJoCo-Datasets-LeRobot.G1_Dex1_OrganizeToolsG1_Dex1_StorePaddleG1_Dex1_Stack_BlockThis dataset was created using LeRobot.
Due to the inability to precisely describe spatial positions, adjust the scene to closely match the first frame of the dataset after installing the hardware as specified in Part 5 of AVP Teleoperation Documentation.
Data collection is not completed in a single session, and variations between data entries exist. Ensure these variations are accounted for during model training.
Dataset Structure
meta/info.json:
{
"codebase_version":… See the full description on the dataset page: https://huggingface.co/datasets/unitreerobotics/G1_Dex1_Stack_Block.GPT-5.5-Gemini-3.1-Pro-Grok-4-Claude-Fable-5-Mythos-5-Qwen-3.7-Max-and-more-Distillation-Dataset
📖 The Open Distillation Codex
🌌 The Ultimate Open-Source Distillation Dataset — with Attack & Defense 🌌
Where 73 open-source minds converge into one unified stream of intelligence
16M+ Distilled Signals · 7,090 Raw GitHub Repositories · 8 Curated Categories · ~81 GB+
"We did not write this dataset. We assembled it.
Every line is an echo — of a model thinking, a coder drafting, a tutor explaining, a repo breathing.
Seventy-three sources. Eight… See the full description on the dataset page: https://huggingface.co/datasets/DEX9mm/GPT-5.5-Gemini-3.1-Pro-Grok-4-Claude-Fable-5-Mythos-5-Qwen-3.7-Max-and-more-Distillation-Dataset.dexwm
DexWM: World Models for Learning Dexterous Hand-Object Interactions from Human Videos
📄 Paper | 💻 Code | 🌐 Project Page
Description
This dataset contains the RoboCasa simulation data used in DexWM: World Models for Learning Dexterous Hand-Object Interactions from Human Videos. It includes two data regimes for training and evaluation of DexWM.
RoboCasa Random: Contains exploratory_movement and gripper_open_and_close sequences. These are random interaction… See the full description on the dataset page: https://huggingface.co/datasets/facebook/dexwm.umi-okra-dex1
UMI Okra Grasping Dataset — Lab Subset (Unitree Dex1-1)
Universal Manipulation Interface (UMI) hand-held teleoperation data for an okra-fruit
grasping / harvesting task. Recorded to train a Diffusion Policy (with a comparison
ACT track) deployed on a Unitree G1.
This is the indoor lab subset. Every session here was recorded in a lab mock okra
field (artificial foliage, white-walled room). The outdoor sessions from the original
collection are not included — see Scope and… See the full description on the dataset page: https://huggingface.co/datasets/Orboh/umi-okra-dex1.agibot_dexhandG1_Dex1_Fold_TowelThis dataset was created using LeRobot.
Due to the inability to precisely describe spatial positions, adjust the scene to closely match the first frame of the dataset after installing the hardware as specified in Part 5 of AVP Teleoperation Documentation.
Data collection is not completed in a single session, and variations between data entries exist. Ensure these variations are accounted for during model training.
Dataset Structure
meta/info.json:
{
"codebase_version":… See the full description on the dataset page: https://huggingface.co/datasets/unitreerobotics/G1_Dex1_Fold_Towel.G1_Dex3_ToastedBread_DatasetThis dataset was created using LeRobot.
Due to the inability to precisely describe spatial positions, adjust the scene to closely match the first frame of the dataset after installing the hardware as specified in Part 5 of AVP Teleoperation Documentation.
Data collection is not completed in a single session, and variations between data entries exist. Ensure these variations are accounted for during model training.
Dataset Structure
meta/info.json:
{
"codebase_version":… See the full description on the dataset page: https://huggingface.co/datasets/unitreerobotics/G1_Dex3_ToastedBread_Dataset.G1_Dex1_Organize_ToolsThis dataset was created using LeRobot.
Due to the inability to precisely describe spatial positions, adjust the scene to closely match the first frame of the dataset after installing the hardware as specified in Part 5 of AVP Teleoperation Documentation.
Data collection is not completed in a single session, and variations between data entries exist. Ensure these variations are accounted for during model training.
Dataset Structure
meta/info.json:
{
"codebase_version":… See the full description on the dataset page: https://huggingface.co/datasets/unitreerobotics/G1_Dex1_Organize_Tools.G1_Dex1_Wipe_TableThis dataset was created using LeRobot.
Due to the inability to precisely describe spatial positions, adjust the scene to closely match the first frame of the dataset after installing the hardware as specified in Part 5 of AVP Teleoperation Documentation.
Data collection is not completed in a single session, and variations between data entries exist. Ensure these variations are accounted for during model training.
Dataset Structure
meta/info.json:
{
"codebase_version":… See the full description on the dataset page: https://huggingface.co/datasets/unitreerobotics/G1_Dex1_Wipe_Table.DexSkillG1_Dex1_DualRobot_Clean_TableThis dataset was created using LeRobot.
Due to the inability to precisely describe spatial positions, adjust the scene to closely match the first frame of the dataset after installing the hardware as specified in Part 5 of AVP Teleoperation Documentation.
Data collection is not completed in a single session, and variations between data entries exist. Ensure these variations are accounted for during model training.
Dataset Structure
meta/info.json:
{
"codebase_version":… See the full description on the dataset page: https://huggingface.co/datasets/unitreerobotics/G1_Dex1_DualRobot_Clean_Table.G1_Dex1_Erase_BoardThis dataset was created using LeRobot.
Due to the inability to precisely describe spatial positions, adjust the scene to closely match the first frame of the dataset after installing the hardware as specified in Part 5 of AVP Teleoperation Documentation.
Data collection is not completed in a single session, and variations between data entries exist. Ensure these variations are accounted for during model training.
Dataset Structure
meta/info.json:
{
"codebase_version":… See the full description on the dataset page: https://huggingface.co/datasets/unitreerobotics/G1_Dex1_Erase_Board.Dexonomy
Dexonomy: Synthesizing All Dexterous Grasp Types in a Grasp Taxonomy
Paper | Project page | Code
Overview
This dataset supports generalizable dexterous grasping with suitable grasp types, a fundamental skill for intelligent robots. It presents an efficient pipeline capable of synthesizing contact-rich, penetration-free, and physically plausible dexterous grasps for any grasp type, object, and articulated hand, starting from just one human-annotated template per hand and… See the full description on the dataset page: https://huggingface.co/datasets/JiayiChenPKU/Dexonomy.Dexterous-joint-collection-glove
Dexterous Joint Collection Glove — research archive
Full research collection (~6.5 GB) behind the design study of a low-cost, minimal exoskeleton glove for capturing human hand motion data at factory scale.
Design writeup + curated sources (GitHub): https://github.com/skr3178/Dexterous-joint-collection-glove
Blog post: https://skr3178.github.io/blog/2026/08/09/dexterous-joint-collection-glove/
The GitHub repo holds the light, curated subset (writeup readme.md, comparison… See the full description on the dataset page: https://huggingface.co/datasets/sangramrout/Dexterous-joint-collection-glove.G1_Dex1_HangCupG1_Dex1_Prepare_FruitThis dataset was created using LeRobot.
Due to the inability to precisely describe spatial positions, adjust the scene to closely match the first frame of the dataset after installing the hardware as specified in Part 5 of AVP Teleoperation Documentation.
Data collection is not completed in a single session, and variations between data entries exist. Ensure these variations are accounted for during model training.
Dataset Structure
meta/info.json:
{
"codebase_version":… See the full description on the dataset page: https://huggingface.co/datasets/unitreerobotics/G1_Dex1_Prepare_Fruit.