# DexBench multitask · all 15 tasks

The 15 DexBench tasks in one dataset: 240 episodes per task, in the order below. Each episode keeps its own instruction; `meta/tasks` holds the 30 instruction texts.

| Task folder | Task | Name | `task_index` | Frames |
|---|---|---|---|---|
| `db_r1` | DB-R1 | Pick fruit from a display | 0 | 51,239 |
| `db_r2` | DB-R2 | Retrieve a drink from a refrigerator | 1, 2, 3, 4, 5, 6 | 120,813 |
| `db_r3` | DB-R3 | Place a box in a shelf slot | 7, 8, 9, 10 | 252,802 |
| `db_l1` | DB-L1 | Pick polybags from a conveyor | 11 | 187,312 |
| `db_l2` | DB-L2 | Lift a package onto a conveyor | 12 | 79,158 |
| `db_l3` | DB-L3 | Pack an invoice | 13 | 65,367 |
| `db_l4` | DB-L4 | Deliver a parcel barcode-up | 14 | 308,559 |
| `db_m1` | DB-M1 | Insert a detergent drawer | 15 | 354,546 |
| `db_m2` | DB-M2 | Insert a connector | 16 | 240,697 |
| `db_m3` | DB-M3 | Fasten bolts with a power driver | 17 | 247,762 |
| `db_m4` | DB-M4 | Hand-start a leveling leg | 18 | 403,558 |
| `db_m5` | DB-M5 | Place a part in a kit box | 19, 20, 21, 22, 23 | 103,610 |
| `db_h1` | DB-H1 | Stack plates or bowls | 24, 25 | 187,019 |
| `db_h2` | DB-H2 | Lift and pour | 26 | 301,434 |
| `db_h3` | DB-H3 | Extract one utensil | 27, 28, 29 | 43,351 |

| | |
|---|---|
| Episodes | 3,600 (task k = episodes 240k … 240k+239, in the table's order) |
| Frames | 2,947,227 at 30 fps |
| 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`. |
| Format | LeRobot v3.0. For LeRobot v2.1: `python tools/convert_lerobot_v30_to_v21.py multitask multitask_v21 --expect-episodes 3600 --expect-frames 2947227` |
| License | © 2026 RLWRLD Inc., licensed under CC BY 4.0 (see `LICENSE.md` at the repository root). |

## Integrity

`sha256sum -c SHA256SUMS` inside this folder.