UniDex
Description
UniDex-Dataset provides more than 50,000 robot-executable trajectories and 9 million paired image-point-cloud-action frames across eight dexterous hands with 6–24 active degrees of freedom. It derives these trajectories from four egocentric RGB-D human-manipulation datasets using human-in-the-loop fingertip retargeting, contact adjustment, hand masking, and robot-hand rendering. Language-aligned tasks include phone use, opening cartons, cooking with a spatula, coffee making, sweeping, cutting bags, and mouse operation, supporting 3D VLA pretraining and transfer between hand embodiments.
License
Varies by source dataset.*
* Double-check the publisher's current license and usage terms before using this dataset.