license: cc-by-4.0
tags:
- robotics
- demonstrations
DexVerse baseline demonstrations
1,900 trajectories across 38 task/version sets and 19 task families. The inventory below describes the curated demonstrations included in this release.
License
The curated files listed in demonstrations/release_manifest.json and this documentation
are licensed under CC BY 4.0.
Sharing, modification and commercial use are permitted with attribution, a license link,
and an indication of changes. Full legal terms.
Suggested attribution: DexVerse baseline demonstrations, DexVerse Project Contributors, CC BY 4.0. Dataset: https://huggingface.co/datasets/dexverse/DexVerse_release
This notice does not relicense existing assets, robot models, source code, or other data outside the curated manifest. Those retain their original terms.
Download and convert
Use a DexVerse checkout containing the versioned tasks and manifest-aware downloader. This dataset is public. Both task versions are selected by default:
python scripts/demo_tools/download_demos.py \
--repo dexverse/DexVerse_release --baseline
Use --version v0 or --version v1 for one version, and --revision <HF-commit> to pin data.
The downloader verifies checksums and refuses to overwrite differing local files.
python scripts/demo_tools/create_demo_files_sequential.py \
--task Dexverse-PushT-v1 --set-state --device cpu \
--obs-groups state --output-dir outputs/h5
Change the task ID to select another task/version. Use the DexVerse NumPy 1.26 environment.
Only load trusted pickles. Isaac startup/rendering still requires a supported NVIDIA GPU.
Task assets are obtained separately. Observation groups depend on the task; for Push-T v0
use --obs-groups privileged policy proprio to include object and goal state.
Files contain actions, scene states and available goal/task state. Set-state replay is not proof of successful action-driven or contact-physics replay. Structural checks are not exhaustive simulator validation. Unknown historical recording devices remain unspecified.
Included demonstrations
| Task | Trajectories |
|---|---|
| Dexverse-GraspBleach-v0 | 50 |
| Dexverse-GraspPan-v0 | 50 |
| Dexverse-GraspKettle-v0 | 50 |
| Dexverse-GraspCup-v0 | 50 |
| Dexverse-RemoveCupFromRack-v0 | 50 |
| Dexverse-FunctionalPourCan-v0 | 50 |
| Dexverse-FunctionalPourMug-v0 | 50 |
| Dexverse-FunctionalHammerStrike-v0 | 50 |
| Dexverse-OpenFaucet-v0 | 50 |
| Dexverse-OpenLaptop-v0 | 50 |
| Dexverse-SqueezeScissors-v0 | 50 |
| Dexverse-SlideUtilityKnife-v0 | 50 |
| Dexverse-OpenStapler-v0 | 50 |
| Dexverse-OpenFlatFolder-v0 | 50 |
| Dexverse-BimanualLiftTray-v0 | 50 |
| Dexverse-BimanualLiftCarton-v0 | 50 |
| Dexverse-InsertPen-v0 | 50 |
| Dexverse-PushSmallSphereObstacleSlope-v0 | 50 |
| Dexverse-PushT-v0 | 50 |
| Dexverse-GraspBleach-v1 | 50 |
| Dexverse-GraspPan-v1 | 50 |
| Dexverse-GraspKettle-v1 | 50 |
| Dexverse-GraspCup-v1 | 50 |
| Dexverse-RemoveCupFromRack-v1 | 50 |
| Dexverse-FunctionalPourCan-v1 | 50 |
| Dexverse-FunctionalPourMug-v1 | 50 |
| Dexverse-FunctionalHammerStrike-v1 | 50 |
| Dexverse-OpenFaucet-v1 | 50 |
| Dexverse-OpenLaptop-v1 | 50 |
| Dexverse-SqueezeScissors-v1 | 50 |
| Dexverse-SlideUtilityKnife-v1 | 50 |
| Dexverse-OpenStapler-v1 | 50 |
| Dexverse-OpenFlatFolder-v1 | 50 |
| Dexverse-BimanualLiftTray-v1 | 50 |
| Dexverse-BimanualLiftCarton-v1 | 50 |
| Dexverse-InsertPen-v1 | 50 |
| Dexverse-PushSmallSphereObstacleSlope-v1 | 50 |
| Dexverse-PushT-v1 | 50 |
Robot hand assets
Floating Shadow, Allegro, Inspire, Leap, Sharpa Wave and Wuji bundles are available
under robot_agents/. They require matching Python/YAML
configurations in the DexVerse source checkout. FR3+Sharpa is excluded.