Dataset · NVIDIA (NVlabs)
DexMimicGen Datasets
Simulation (RoboSuite/MuJoCo; also applied to BiGym). License conflict between HF card (CC BY-NC-SA 4.0) and GitHub README (CC-BY 4.0).
Facts
- Organisation
- NVIDIA (NVlabs)
- Form tags
- dual arm · humanoid · simulation
- Embodiments (as stated)
- bimanual Panda arms with parallel-jaw grippers · bimanual Panda arms with dexterous hands · GR-1 humanoid with dexterous hands
- Episodes
- 21,000
- Hours
- unverified
- Frames
- unverified
- Tasks
- 9
- Scenes
- unverified
- Modalities
- rgb · state
- Format
- HDF5
- Licence
- cc-by-nc-sa-4.0 (HF card YAML); GitHub README states 'CC-BY 4.0'
- Commercial use
- unverified
- Released
- 2024-10
- Size
- 59.9 GB
Sources · 8 sources
embodiments https://arxiv.org/html/2410.24185 Official page · Fetched 2026-09-18 · No snapshot stored yet 'bimanual Panda arms equipped with parallel-jaw grippers, (2) bimanual Panda arms with dexterous hands, and (3) a GR-1 humanoid equipped with dexterous hands'; real-world: Fourier GR1 with two 6-DoF Inspire hands
episodes https://arxiv.org/abs/2410.24185 Official page · Fetched 2026-09-18 · No snapshot stored yet '21K demos across these tasks' from 'just 60 source human demos'; landing page: 'over 20,000 demonstrations'
tasks https://dexmimicgen.github.io/ Official page · Fetched 2026-09-18 · No snapshot stored yet 9 tasks: Can Sorting, Coffee, Pouring, Tray Lift, Box Cleanup, Drawer Cleanup, Threading, Transport, Piece Assembly (+3 BiGym tasks)
modalities https://arxiv.org/html/2410.24185 Official page · Fetched 2026-09-18 · No snapshot stored yet Policies trained on 'RGB images and proprioceptive observations'
format https://github.com/NVlabs/dexmimicgen Official page · Fetched 2026-09-18 · No snapshot stored yet playback_datasets.py --dataset xxxxx.hdf5
license https://huggingface.co/datasets/MimicGen/dexmimicgen_datasets/raw/main/README.md Official page · Fetched 2026-09-18 · No snapshot stored yet YAML front matter license: cc-by-nc-sa-4.0; GitHub README: 'The datasets are released under CC-BY 4.0' — conflicting, so commercial_ok left null
release_date https://arxiv.org/abs/2410.24185 Official page · Fetched 2026-09-18 · No snapshot stored yet Submitted 31 Oct 2024; ICRA 2025
size_gb https://huggingface.co/datasets/MimicGen/dexmimicgen_datasets Official page · Fetched 2026-09-18 · No snapshot stored yet HF card total file size 59.9 GB
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Clear direction, grounded judgement.