Datasets:
200 episodes · 20 fps · 2 cameras · 224×224 av1
This dataset was created using LeRobot.
Dataset Description
Scripted-expert DexSuite data for lift with the Franka arm and the UMI tactile parallel gripper: 200 successful episodes from the waypoint planner with randomized object initialization, including dense fingertip tactile readings (Flexitac simulation). The wrist camera looks at the flat face of the fingers (2026-09-16 mount). All episodes are successful, recorded at 20 Hz with a static front camera and a wrist camera (224x224 RGB video), proprioception and ground-truth object state, under DexSuite's shared observation/action interface (actions are OSC pose offsets from the episode-start end-effector pose plus gripper/hand joint targets). As in every DexSuite set, frame t stores the observation before action t; the success flag on the last frame refers to the transition it triggers, so the terminal state itself is not stored.
- Homepage: https://huggingface.co/dexsuite
- Paper: DexSuite (RA-L 2026 submission)
- License: apache-2.0
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": null,
"total_episodes": 200,
"total_frames": 15030,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:200"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
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"obs.state.gripper.qtorque": {
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"shape": [
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},
"obs.state.gripper.qvel": {
"dtype": "float32",
"shape": [
2
]
},
"obs.state.gripper.tactile.left_elastomer.contact": {
"dtype": "float32",
"shape": [
1
]
},
"obs.state.gripper.tactile.left_elastomer.force": {
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},
"obs.state.gripper.tactile.left_elastomer.force_grid": {
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},
"obs.state.gripper.tactile.left_elastomer.force_grid_norm": {
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12,
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"obs.state.gripper.tactile.left_elastomer.force_norm": {
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},
"obs.state.gripper.tactile.left_elastomer.points": {
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4
]
},
"obs.state.gripper.tactile.left_elastomer.points_raw": {
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"shape": [
384,
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},
"obs.state.gripper.tactile.left_elastomer.pos": {
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3
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},
"obs.state.gripper.tactile.left_elastomer.quat": {
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},
"reward": {
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"truncated": {
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"success": {
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"failure": {
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"obs.state.gripper.tactile.right_elastomer.contact": {
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"obs.state.gripper.tactile.right_elastomer.force": {
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},
"obs.state.gripper.tactile.tactile_points": {
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},
"obs.state.gripper.tactile.tactile_points_raw": {
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768,
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},
"obs.state.gripper.tcp_pos": {
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},
"obs.state.gripper.tcp_quat": {
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},
"obs.state.manipulator.eef_pos": {
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"shape": [
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},
"obs.state.manipulator.eef_quat": {
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},
"obs.state.manipulator.qpos": {
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},
"obs.state.manipulator.qtorque": {
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},
"obs.state.manipulator.qvel": {
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},
"obs.state.other.action": {
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},
"obs.state.other.cube_pos": {
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"shape": [
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},
"obs.state.other.cube_quat": {
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},
"obs.state.other.last_action": {
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},
"obs.state.other.target_pos": {
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},
"obs.cameras.front.rgb": {
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"shape": [
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],
"info": {
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"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"obs.cameras.wrist.rgb": {
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"shape": [
224,
224,
3
],
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"timestamp": {
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"shape": [
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"names": null
},
"frame_index": {
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"shape": [
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"names": null
},
"episode_index": {
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"index": {
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"task_index": {
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}
},
"task": "lift",
"options": null
}
Citation
BibTeX:
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