A collection of human demonstrations in multiple manipulation tasks, using 4 manipulators. This dataset also contains the model checkpoint and normalization for the RL environment:
<ul>
<li>Model checkpoint for the CVAE</li>
<li>Collected teleoperated demonstrations</li>
<li>Baked demonstrations for RL training</li>
<li>Normalization stat for RL training</li>
</ul>
For details usage, see <a href="https://github.com/hsp-iit/PCHands">source code</a>.
This dataset is publicly released with the referenced Humanoids 2025 publication.
Please cite the publication if you find this dataset useful.
```bibtex
@misc{
title={PCHands: PCA-based Hand Pose Synergy Representation on Manipulators with N-DoF},
author={En Yen Puang and Federico Ceola and Giulia Pasquale and Lorenzo Natale},
year={2025},
eprint={2508.07945},
archivePrefix={arXiv},
primaryClass={cs.RO},
url={https://arxiv.org/abs/2508.07945},
}
```
