Replication Data for: PCHands: PCA-based Hand Pose Synergy Representation on Manipulators with N-DoF

A collection of human demonstrations in multiple manipulation tasks, using 4 manipulators. This dataset also contains the model checkpoint and normalization for the Reinforcement Learning (RL) environment: Model checkpoint for the Conditional Variational Auto-Encoder (CVAE) Collected teleoperated demonstrations Baked demonstrations for RL training Normalization stat for RL training For details usage, see source code. This dataset is publicly released with the referenced Humanoids 2025 publication. Please cite the publication if you find this dataset useful. HF is another alternative to download this dataset.