BiDex-100

BiDex-100 is a simulated bimanual dexterous-manipulation dataset covering 106 tasks across five capability categories. It contains synchronized multi-view RGB/depth videos, robot states, actions, rewards, and episode metadata.

The same trajectories are provided in two LeRobot-compatible layouts:

• datasets/lerobotv21/
• datasets/lerobotv30/

These directories are alternative representations of the same dataset and should not be counted as separate demonstrations.

Dataset Overview

Category	Tasks	Episodes	Frames	Duration
Generalization	40	4,000	2,720,517	30.23 h
Instruction Following	20	1,300	663,275	7.37 h
Limited Demonstrations	26	780	387,591	4.31 h
Long Horizon	10	1,000	1,242,818	13.81 h
Memory	10	1,000	1,234,772	13.72 h
Total	106	8,080	6,248,973	69.43 h

All trajectories are recorded at 25 FPS.

Robot Configurations

Robot type	Number of tasks
dual_fr3v2_sharpa	96
astribot_s1_fixed_sharpa	10

Data Modalities

Each task contains six synchronized video streams:

• observation.images.head_color
• observation.images.head_depth
• observation.images.left_wrist_color
• observation.images.left_wrist_depth
• observation.images.right_wrist_color
• observation.images.right_wrist_depth

The videos are stored at 480 × 360 resolution and 25 FPS using H.264 encoding.

The structured observations and actions include:

Group	Fields
End-effector state	Absolute poses for both arms, including camera-frame poses
Dexterous-hand state	Joint positions and velocities for 44 hand joints
Arm state	Joint positions and velocities for 14 arm joints
Actions	End-effector poses, 44-dimensional hand commands, and 14-dimensional arm commands
Auxiliary signals	Button commands, rewards, done flags, timestamps, frame indices, episode indices, and task indices

Exact schemas, dimensions, paths, and data types are recorded in each task's meta/info.json.

Repository Structure

BiDex-100/
├── README.md
├── assets/
│   ├── README.md
│   ├── LICENSE
│   ├── articraft_objects/
│   ├── assembly_objects/
│   ├── astribot_descriptions/
│   ├── libero/
│   └── robocasa_assets/
└── datasets/
    ├── lerobotv21/
    │   ├── Generalization/
    │   ├── Instruction_Following/
    │   ├── Limited_Demonstrations/
    │   ├── Long_Horizon/
    │   └── Memory/
    └── lerobotv30/
        ├── Generalization/
        ├── Instruction_Following/
        ├── Limited_Demonstrations/
        ├── Long_Horizon/
        └── Memory/

Each category contains one directory per task. A typical task directory contains:

<task>/
├── data/
├── videos/
└── meta/
    ├── episodes.jsonl
    ├── episodes_stats.jsonl
    ├── info.json
    └── tasks.jsonl

The precise data and video paths differ between the two LeRobot layouts. Applications should read the data_path and video_path templates from meta/info.json.

Storage

Component	Approximate size
datasets/lerobotv21/	95.66 GiB
datasets/lerobotv30/	93.89 GiB
assets/	5.45 GiB
Complete repository	195.00 GiB

Download only the representation and categories needed for your experiments when possible.

Download

Install the Hugging Face Hub client:

pip install -U huggingface_hub

Download the complete repository:

from huggingface_hub import snapshot_download

snapshot_download(
    repo_id="inclusionAI/BiDex-100",
    repo_type="dataset",
    local_dir="BiDex-100",
)

Download a specific layout or capability category:

from huggingface_hub import snapshot_download

snapshot_download(
    repo_id="inclusionAI/BiDex-100",
    repo_type="dataset",
    local_dir="BiDex-100",
    allow_patterns=[
        "datasets/lerobotv30/Memory/**",
    ],
)

Using the command line:

hf download inclusionAI/BiDex-100 \
  --repo-type dataset \
  --local-dir BiDex-100

Assets

The assets/ directory contains the scene, object, robot-description, texture, and mesh resources used by the BiDex-100 simulation benchmark.

License

The trajectory data and metadata in both dataset layouts are licensed under the Creative Commons Attribution-NonCommercial 4.0 International License (CC BY-NC 4.0):

• datasets/lerobotv21/LICENSE
• datasets/lerobotv30/LICENSE

Appropriate attribution is required, and commercial use is not permitted without separate permission.

Asset licensing is component-specific. Original BiDex-100 assets are licensed under CC BY-NC 4.0, while third-party assets retain their upstream terms. See assets/README.md, assets/LICENSE, and the notices in each asset directory.

Dataset Limitations

• The trajectories were generated in simulation and may not directly reflect real-world sensing, dynamics, or control noise.
• Performance on these tasks should not be treated as evidence of unrestricted real-world robotic capability.
• The two LeRobot directories contain alternative representations of the same trajectories.
• Users are responsible for reviewing the applicable licenses before redistribution or commercial use.

Citation

Citation information will be added with the corresponding BiDex-100 project release.