| --- |
| 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](https://creativecommons.org/licenses/by/4.0/). |
| Sharing, modification and commercial use are permitted with attribution, a license link, |
| and an indication of changes. [Full legal terms](https://creativecommons.org/licenses/by/4.0/legalcode). |
|
|
| 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: |
| |
| ```bash |
| 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. |
| |
| ```bash |
| 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/`](robot_agents/README.md). They require matching Python/YAML |
| configurations in the DexVerse source checkout. FR3+Sharpa is excluded. |
| |
