dexbench/DexBench-RLDS

DexBench灵巧操作演示数据集，通过Isaac Lab重放，打包为Open-X-Embodiment风格的RLDS/TFDS数据集。每个帧包含：第三人称和腕部RGB图像（256×256）、本体感知、关节空间动作以及自然语言指令。数据集包含两个变体：单手机器人（685个片段，14个任务，动作/状态维度28）和双手机器人（746个片段，9个任务，动作/状态维度56），总计1431个片段，约574k帧，30fps。DexBench dexterous manipulation demonstrations replayed through Isaac Lab, packaged as Open-X-Embodiment-style RLDS / TFDS datasets. Each frame: third-person + wrist RGB at 256×256, proprioception, joint-space action, and a natural-language instruction. Contains two variants: single-hand robot (685 episodes, 14 tasks, action/state dim 28) and bimanual robot (746 episodes, 9 tasks, action/state dim 56), total 1,431 episodes, ~574k frames, 30 fps.