---
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`.