DexBench
Collection
3 items • Updated
Search is not available for this dataset
observation.joint_position listlengths 66 66 | observation.joint_velocity listlengths 66 66 | action listlengths 66 66 | timestamp float32 0 74.8 | frame_index int64 0 2.25k | episode_index int64 0 3.6k | index int64 0 2.95M | task_index int64 0 29 | next.done bool 2
classes |
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End of preview. Expand in Data Studio
DexBench datasets
Demonstrations for the 15 DexBench tasks: 240 episodes per task, 3,600 episodes and 2,947,227 frames in all. Robot: RB-Y1 mobile manipulator with two WUJI dexterous hands (66 joints).
Each task folder is one LeRobot v3.0 dataset with its own README; multitask/ holds all 15 tasks in one
dataset (3,600 episodes, task_index 0–29, one instruction per episode).
| Folder | Task | Name | Episodes | Frames |
|---|---|---|---|---|
db_r1/ |
DB-R1 | Pick fruit from a display | 240 | 51,239 |
db_r2/ |
DB-R2 | Retrieve a drink from a refrigerator | 240 | 120,813 |
db_r3/ |
DB-R3 | Place a box in a shelf slot | 240 | 252,802 |
db_l1/ |
DB-L1 | Pick polybags from a conveyor | 240 | 187,312 |
db_l2/ |
DB-L2 | Lift a package onto a conveyor | 240 | 79,158 |
db_l3/ |
DB-L3 | Pack an invoice | 240 | 65,367 |
db_l4/ |
DB-L4 | Deliver a parcel barcode-up | 240 | 308,559 |
db_m1/ |
DB-M1 | Insert a detergent drawer | 240 | 354,546 |
db_m2/ |
DB-M2 | Insert a connector | 240 | 240,697 |
db_m3/ |
DB-M3 | Fasten bolts with a power driver | 240 | 247,762 |
db_m4/ |
DB-M4 | Hand-start a leveling leg | 240 | 403,558 |
db_m5/ |
DB-M5 | Place a part in a kit box | 240 | 103,610 |
db_h1/ |
DB-H1 | Stack plates or bowls | 240 | 187,019 |
db_h2/ |
DB-H2 | Lift and pour | 240 | 301,434 |
db_h3/ |
DB-H3 | Extract one utensil | 240 | 43,351 |
multitask/ |
all | all 15 tasks | 3,600 | 2,947,227 |
Contents of every dataset
- Cameras:
observation.images.camera_ego_left,observation.images.camera_ego_right,observation.images.camera_wrist_left,observation.images.camera_wrist_right: 640×360, H.264, 30 fps. - State / action:
observation.joint_position,observation.joint_velocityandaction: float32 × 66, joint names inmeta/info.json, groups inmeta/modality.json: wheels 0:4, torso 4:10, right arm 10:17, right hand 17:37, left arm 37:44, left hand 44:64, neck 64:66. Alsotimestamp,frame_index,episode_index,index,task_index,next.done.
Download
hf download RLWRLD/DexBench-datasets --repo-type dataset --include "db_r1/*" "tools/*" --local-dir dexbench
Load (LeRobot v3.0; tested with lerobot 0.4.4)
from lerobot.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("db_r1", root="dexbench/db_r1")
Convert to LeRobot v2.1 (tested with lerobot 0.3.3 reading the result)
pip install "av>=14" numpy pandas pyarrow
cd dexbench
python tools/convert_lerobot_v30_to_v21.py db_r1 db_r1_v21 --expect-episodes 240 --expect-frames 51239
The conversion is lossless: parquet rows are copied unchanged, each episode's video is cut out of the
concatenated file without re-encoding and checked frame by frame, and meta/stats.json,
meta/episodes_stats.jsonl, meta/episodes.jsonl and meta/tasks.jsonl are written for v2.1 readers.
Each folder's README gives the command with its episode and frame counts.
Integrity
Every dataset folder has a SHA256SUMS over its files: cd db_r1 && sha256sum -c SHA256SUMS.
License
© 2026 RLWRLD Inc., licensed under CC BY 4.0. See LICENSE.md.
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