dexverse/DexVerse_release

DexVerse baseline demonstrations

1,900 trajectories across 38 task/version sets and 19 task families. The inventory below describes the curated demonstrations included in this release.

License

The curated files listed in demonstrations/release_manifest.json and this documentation are licensed under CC BY 4.0. Sharing, modification and commercial use are permitted with attribution, a license link, and an indication of changes. Full legal terms.

Suggested attribution: DexVerse baseline demonstrations, DexVerse Project Contributors, CC BY 4.0. Dataset: https://huggingface.co/datasets/dexverse/DexVerse_release

This notice does not relicense existing assets, robot models, source code, or other data outside the curated manifest. Those retain their original terms.

Download and convert

Use a DexVerse checkout containing the versioned tasks and manifest-aware downloader. This dataset is public. Both task versions are selected by default:

python scripts/demo_tools/download_demos.py \
  --repo dexverse/DexVerse_release --baseline

Use --version v0 or --version v1 for one version, and --revision <HF-commit> to pin data. The downloader verifies checksums and refuses to overwrite differing local files.

python scripts/demo_tools/create_demo_files_sequential.py \
  --task Dexverse-PushT-v1 --set-state --device cpu \
  --obs-groups state --output-dir outputs/h5

Change the task ID to select another task/version. Use the DexVerse NumPy 1.26 environment. Only load trusted pickles. Isaac startup/rendering still requires a supported NVIDIA GPU. Task assets are obtained separately. Observation groups depend on the task; for Push-T v0 use --obs-groups privileged policy proprio to include object and goal state.

Files contain actions, scene states and available goal/task state. Set-state replay is not proof of successful action-driven or contact-physics replay. Structural checks are not exhaustive simulator validation. Unknown historical recording devices remain unspecified.

Included demonstrations

Task	Trajectories
Dexverse-GraspBleach-v0	50
Dexverse-GraspPan-v0	50
Dexverse-GraspKettle-v0	50
Dexverse-GraspCup-v0	50
Dexverse-RemoveCupFromRack-v0	50
Dexverse-FunctionalPourCan-v0	50
Dexverse-FunctionalPourMug-v0	50
Dexverse-FunctionalHammerStrike-v0	50
Dexverse-OpenFaucet-v0	50
Dexverse-OpenLaptop-v0	50
Dexverse-SqueezeScissors-v0	50
Dexverse-SlideUtilityKnife-v0	50
Dexverse-OpenStapler-v0	50
Dexverse-OpenFlatFolder-v0	50
Dexverse-BimanualLiftTray-v0	50
Dexverse-BimanualLiftCarton-v0	50
Dexverse-InsertPen-v0	50
Dexverse-PushSmallSphereObstacleSlope-v0	50
Dexverse-PushT-v0	50
Dexverse-GraspBleach-v1	50
Dexverse-GraspPan-v1	50
Dexverse-GraspKettle-v1	50
Dexverse-GraspCup-v1	50
Dexverse-RemoveCupFromRack-v1	50
Dexverse-FunctionalPourCan-v1	50
Dexverse-FunctionalPourMug-v1	50
Dexverse-FunctionalHammerStrike-v1	50
Dexverse-OpenFaucet-v1	50
Dexverse-OpenLaptop-v1	50
Dexverse-SqueezeScissors-v1	50
Dexverse-SlideUtilityKnife-v1	50
Dexverse-OpenStapler-v1	50
Dexverse-OpenFlatFolder-v1	50
Dexverse-BimanualLiftTray-v1	50
Dexverse-BimanualLiftCarton-v1	50
Dexverse-InsertPen-v1	50
Dexverse-PushSmallSphereObstacleSlope-v1	50
Dexverse-PushT-v1	50