boardd/dexwild-dataset

Tony Tao^*, Mohan Kumar Srirama^*, Jason Jingzhou Liu, Kenneth Shaw, Deepak Pathak

Robotics: Science and Systems (RSS) 2025

[Project page] [Video] [ArXiv]

[Main Code Repo] [Policy Training]

[Hardware Guide] [Data Collection Guide]

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Data Breakdown

The DexWild dataset is one of the largest, high quality human dexterous hand datasets with a huge diversity of objects and environments. In total, we collect 9,505 Episodes across 5 tasks and 93 environments. 33+ Hours equating to 3.5M+ Transitions!

Florist
Human - 1,030 Episodes, 310,571 Transitions
Robot - 248 Episodes, 92,954 Transitions

Clothes Folding
Human - 1,123 Episodes, 294,367 Transitions
Robot - 295 Episodes, 123,385 Transitions

Spray
Human - 2,820 Episodes, 886,460 Transitions
Robot - 388 Episodes, 162,862 Transitions

Toy Cleanup
Human - 2,323 Episodes, 1,251,649 Transitions
Robot - 546 Episodes, 316,289 Transitions

Pouring
Human - 621 Episodes, 181,541 Transitions
Robot - 111 Episodes, 30,880 Transitions

Data Structure

Data is saved in HDF5 Format in the following general structure. Note that single arm tasks are missing a few of these folders.

data
├── ep_0000
│   ├── intergripper
│   │   └── intergripper.pkl
│   ├── left_leapv2
│   │   └── left_leapv2.pkl
│   ├── left_manus
│   │   └── left_manus_full.pkl, left_manus.pkl
│   ├── left_pinky_cam
│   │   └── timestamp1.jpg, timestamp2.jpg, ...
│   ├── left_thumb_cam
│   │   └── timestamp1.jpg, timestamp2.jpg, ...
│   ├── left_tracker
│   │   └── left_tracker_cam_frame_abs.pkl, ...
│   ├── right_leapv2
│   │   └── right_leapv2.pkl
│   ├── right_manus
│   │   └── right_manus_full.pkl, right_manus.pkl
│   ├── right_pinky_cam
│   │   └── timestamp1.jpg, timestamp2.jpg, ...
│   ├── right_thumb_cam
│   │   └── timestamp1.jpg, timestamp2.jpg, ...
│   ├── right_tracker
│   │   └── right_tracker_cam_frame_abs.pkl, ...
│   ├── timesteps
│   │   └── timesteps.txt
│   ├── zed
│   │   └── zed_ts.pkl  
│   └── zed_obs
│       └── timestamp1.jpg, timestamp2.jpg, ...
├── ep_0001
├── ep_0002
├── ...

Data Recombination

Since HuggingFace has a limit on single file size, you must recombine the data to obtain the full dataset for certain HDF5 files.

After downloading the split files, follow this guide.

Merging Instructions:

1. Navigate to the Download Directory:

   cd path_to_downloaded_files
   

2. Merge Files Using cat:

   Use the cat command to concatenate the split parts. Replace filename.part_* with your actual file name.

   cat filename.part_* > filename.tar
   

   Example:

   cat DexWild_Data.part_* > DexWild_Data.tar
   

3. Verify the Merged File:

   Ensure that the merged file size matches the original file size before merging. You can use the ls -lh command to check file sizes.

   ls -lh DexWild_Data.tar
   

4. Extract the Dataset:

   Once merged, extract the dataset using the tar command:

   tar -xvf DexWild_Data.tar
   

Citation

If you find this project useful, please cite our work:

@article{tao2025dexwild,
      title={DexWild: Dexterous Human Interactions for In-the-Wild Robot Policies},
      author={Tao, Tony and Srirama, Mohan Kumar and Liu, Jason Jingzhou and Shaw, Kenneth and Pathak, Deepak},
      journal={Robotics: Science and Systems (RSS)},
      year={2025}}