| --- |
| license: cc-by-4.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - dexterous-manipulation |
| - bimanual |
| - mobile-manipulation |
| configs: |
| - config_name: multitask |
| data_files: "multitask/data/*/*.parquet" |
| default: true |
| - config_name: db_r1 |
| data_files: "db_r1/data/*/*.parquet" |
| - config_name: db_r2 |
| data_files: "db_r2/data/*/*.parquet" |
| - config_name: db_r3 |
| data_files: "db_r3/data/*/*.parquet" |
| - config_name: db_l1 |
| data_files: "db_l1/data/*/*.parquet" |
| - config_name: db_l2 |
| data_files: "db_l2/data/*/*.parquet" |
| - config_name: db_l3 |
| data_files: "db_l3/data/*/*.parquet" |
| - config_name: db_l4 |
| data_files: "db_l4/data/*/*.parquet" |
| - config_name: db_m1 |
| data_files: "db_m1/data/*/*.parquet" |
| - config_name: db_m2 |
| data_files: "db_m2/data/*/*.parquet" |
| - config_name: db_m3 |
| data_files: "db_m3/data/*/*.parquet" |
| - config_name: db_m4 |
| data_files: "db_m4/data/*/*.parquet" |
| - config_name: db_m5 |
| data_files: "db_m5/data/*/*.parquet" |
| - config_name: db_h1 |
| data_files: "db_h1/data/*/*.parquet" |
| - config_name: db_h2 |
| data_files: "db_h2/data/*/*.parquet" |
| - config_name: db_h3 |
| data_files: "db_h3/data/*/*.parquet" |
| --- |
| |
| # 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_velocity` and `action`: float32 × 66, joint names in `meta/info.json`, groups in `meta/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. Also `timestamp`, `frame_index`, `episode_index`, `index`, `task_index`, `next.done`. |
|
|
| ## Download |
|
|
| ```bash |
| 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) |
|
|
| ```python |
| 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) |
|
|
| ```bash |
| 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`. |
|
|
