kechenkechen/oxe-datasets

EgoDex Dataset

Egocentric dexterous manipulation dataset with 141,359 video episodes across 39 task categories.

Structure

egodex/
├── videos/                          # Video data organized by task
│   ├── add_remove_lid/
│   │   ├── 0.mp4
│   │   └── ...
│   ├── basic_pick_place/
│   └── ...  (39 task categories)
├── annotations/
│   ├── manifest.json                # Full dataset manifest
│   ├── train.json                   # Training split (80%)
│   ├── val.json                     # Validation split (10%)
│   └── test.json                    # Test split (10%)
├── splits/
│   ├── train.txt                    # Episode IDs for training
│   ├── val.txt                      # Episode IDs for validation
│   └── test.txt                     # Episode IDs for testing
└── README.md

Annotation Schema

Each entry in the JSON annotation files contains:

{
  "episode_id": "0",
  "task": "add_remove_lid",
  "original_part": "part1",
  "video_path": "videos/add_remove_lid/0.mp4"
}

Statistics

• Total episodes: 141,359
• Train / Val / Test: 113,072 / 14,115 / 14,172 (80/10/10 split, stratified by task)
• Task categories: 39
• Split random seed: 42

Task Categories

Manipulation

• add_remove_lid, clip_unclip_papers, crumple_flatten_paper, flip_coin, flip_pages
• braid_unbraid, deal_gather_cards, fidget_magnetic_spinner_rings, color

Assembly / Construction

• assemble_disassemble_legos, assemble_disassemble_soft_legos
• assemble_disassemble_structures, assemble_disassemble_tiles
• assemble_jenga, build_unstack_lego

Furniture Assembly

• assemble_disassemble_furniture_bench_{chair, desk, drawer, lamp, square_table, stool}
• insert_remove_furniture_bench_{cabinet, round_table}

Kitchen

• boil_serve_egg, fry_bread, fry_egg, clean_cups, clean_tableware

Cleaning / Organization

• clean_surface, declutter_desk, dry_hands

Folding

• basic_fold, fold_stack_unstack_unfold_cloths
• fold_unfold_paper_basic, fold_unfold_paper_origami

Device Interaction

• charge_uncharge_airpods, charge_uncharge_device

Pick & Place

• basic_pick_place