dex-hand
Datasets
All datasets matching “dex-hand”agibot_dexhandSmolVLA-DexHand-Tactile-Data
SmolVLA DexHand Tactile Data
本仓库存放 SmolVLA DexHand Tactile
项目的 MuJoCo 模仿学习数据。任务为 RM65 + Gaia 五指灵巧手抓取苹果并放入盘中。
内容
当前普通数据：300 episodes，由 regular_300_local、regular_300_s1、regular_300_s2
三个独立数据源各 100 episodes 组成。
每帧包含 20D 指尖触觉、双 RGB 相机和 22D state/action。
数据为 20 Hz LeRobot 格式。每个数据源保留为独立目录，不在 Hub 端重新拼接；准确的目录、
episode/frame 数量、seed 范围、场景资产 SHA256 和适用限制以代码仓库的
configs/artifacts.json 为准。
为与当前最佳 S2V 权重严格对应，本仓库不上传旧版 302、额外普通 500 或纠错 90 条数据。
下载… See the full description on the dataset page: https://huggingface.co/datasets/KrisYoung/SmolVLA-DexHand-Tactile-Data.DexHandDiff
DexHandDiff: Interaction-aware Diffusion Planning for Adaptive Dexterous Manipulation
Code: https://github.com/Liang-ZX/DexHandDiffProject Page: https://dexdiffuser.github.io/Paper: https://huggingface.co/datasets/Liang-ZX/DexHandDiff/blob/main/paper.pdf
Checkpoints / Models:
Adroit Door
Citation
@inproceedings{liang2025dexhanddiff,
title={DexHandDiff: Interaction-aware Diffusion Planning for Adaptive Dexterous Manipulation},
author={Liang, Zhixuan… See the full description on the dataset page: https://huggingface.co/datasets/Liang-ZX/DexHandDiff.ai_worker_dex_hand_pickThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": null,
"total_episodes": 0,
"total_frames": 0,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 0,
"chunks_size": 1000,
"fps": 30,
"splits": {},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/moonjongsul/ai_worker_dex_hand_pick.AgiBotWorld-Beta-dexhand-LeRobot-V3.0DEXHAND-70K