HRDexDB
Description
HRDexDB pairs human grasps with executions by four dexterous robot-hand embodiments on the same 100 objects, totaling 2,100 sequences and 24 million frames. A synchronized rig of 21 exocentric and two egocentric RGB cameras records reconstructed 3D hand motion, robot state, object geometry and 6-DoF trajectories, success labels, and fingertip contact forces where tactile hardware is available. It supports human-to-robot contact transfer, cross-embodiment grasp retrieval, and evaluation of hand and object pose estimation under occlusion.
License
CC BY-NC 4.0.*
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