DexUMI: Using Human Hand as the Universal Manipulation Interface for Dexterous Manipulation
Paper • 2505.21864 • Published • 10
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DexUMI data
The DexUMI datasets, a mirror of the five zips the authors released at https://real.stanford.edu/dexumi/dataset/ (byte sizes verified against the site, 2026-10-19).
- Code: https://github.com/real-stanford/DexUMI
- Paper / project page: https://arxiv.org/abs/2505.21864
Layout
inspire/{cube_picking,egg_carton,tool_use}.zip (Inspire RH56 hand) and xhand/{kitchen,tool_use}.zip (XHAND1), one zip per hand and task, exactly as released. Each zip holds <task>/<name>_<month>_<day>_dataset/episode_<N>/ zarr groups, one group per recording day: camera_0/rgb (N, 400, 640, 3) wrist-camera video with the replayed robot hand composited in, pose (N, 6) iPhone ARKit camera pose (xyz + rotation vector), hand_action / proprioception (N, 6 | 12) replayed hand motor commands / readings, fsr (N, 2 | 3) fingertip force-sensor readings.
Contents
| path | files | GB |
|---|---|---|
inspire |
3 | 6.79 |
xhand |
2 | 8.77 |
| total | 5 | 15.6 |
License
MIT, the license of the project's GitHub repository (https://github.com/real-stanford/DexUMI).
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