huggingface.co

Subset (5)

cameras

·

47.3k rows

Split (1)

episode_id

string

lengths

12

46

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classes

23 values

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29

63

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int64

160

2.81k

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int64

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float64

5.33

93.6

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int64

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147M

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HRDexDB: A Paired Human-Robot Dataset for Cross-Embodiment Dexterous Grasping

Authors

Jongbin Lim¹⋆, Taeyun Ha¹⋆, Mingi Choi¹, Jisoo Kim¹, Byungjun Kim¹, Subin Jeon¹, Hanbyul Joo¹²†

¹ Seoul National University
² RLWRLD

⋆ Equal contribution
† Corresponding author

News

(2026.07.27) We are improving the quality of the object mesh and the tracking results. The latest assets are available in the assets/mesh_v2 folder. The updated tracking results are provided under the object_6d_pose_v2/ folder.

(2026.07.25) The full set of inspire_dftp data has been uploaded!

Links

For users who prefer downloading the dataset as ZIP archives, we also provide a Google Drive mirror:

https://drive.google.com/drive/folders/1MgaQ8oxE97T30W0x4lte1EM0U7fl3bzl?usp=sharing

HRDexDB

Overview

HRDexDB is the first large-scale paired human-robot dexterous grasping dataset featuring synchronized captures of human and robotic hand manipulation.

  • 2.1K grasping sequences
  • 100+ objects
  • 5 embodiments
  • Human and robot paired captures
  • High-fidelity 3D annotations
  • Tactile sensing signals

Citation 

@misc{lim2026hrdexdb,
  title={HRDexDB: A Paired Human-Robot Dataset for Cross-Embodiment Dexterous Grasping},
  author={Jongbin Lim and Taeyun Ha and Mingi Choi and Jisoo Kim and Byungjun Kim and Subin Jeon and Hanbyul Joo},
  year={2026},
  eprint={2604.14944},
  archivePrefix={arXiv},
  primaryClass={cs.RO},
  url={https://arxiv.org/abs/2604.14944}
}

Contact

Metadata index

The five metadata tables are available as Hugging Face configurations, for example:

from datasets import load_dataset
episodes = load_dataset("HRDexDB/HRDexDB", "episodes", split="train")

train is the complete published catalog, not a benchmark split. Repository paths are relative to the dataset root. Nullable paths and has_* columns describe asset availability. Pairings contain only explicitly verified robot-to-human links.

Table schemas: episodes indexes capture availability, outcome, dimensions, and repository paths; objects maps object IDs to verified meshes; cameras maps each episode-camera stream to its path and stream properties; embodiments describes the four capture embodiments; and pairings stores verified robot-to-human episode links. Camera stream properties are measured from the canonical synchronized stream identified by stream_metadata_source_path; each camera row retains its own path and byte size.

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Paper for HRDexDB/HRDexDB

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