---
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.