CLARU
ckwolfemit

Dexterous Manipulation Benchmark — Cross-Method Evaluation

Cross-method evaluation framework comparing 4 methods (ManipTrans, DexMachina, Spider, Oracle) across 4 dexterous hands and 2 datasets (OakInk-v2, Arctic) on identical hardware and reference trajectories.

Downloads103

Technical Profile

Modalities
rgbproprioception
Robot Embodiments
allegroinspireschunkxhand
Environment
labsimulation
Task Types
manipulationdexterous_manipulationgraspingpick_and_placepouringwiping
Data Format
jsonl
License
mit
Part of the Dexterous Manipulation Benchmark — Cross-Method Evaluation family

Access

View on HuggingFace

Need custom rgb data?

Claru builds purpose-built datasets for lab applications with dense human annotations and quality assurance.

Request a Sample Pack

Related Datasets

RoboTwin SFT 8-Tasks SAPIEN Eval

SAPIEN execution results for 1280 SFT-generated videos across 8 RoboTwin manipulation tasks, with actions extracted via inverse dynamics model and replayed in simulation.

rgbvideo
null downloadsApr 2026apache-2.0

Xperience-10M

A large-scale egocentric multimodal dataset of human experience containing 10 million interactions and 10,000 hours of synchronized first-person recordings with six video streams, audio, stereo depth, camera pose, hand mocap, full-body mocap, IMU, and hierarchical language annotations for embodied AI, robotics, and world modeling research.

rgbaudiodepthproprioception+3
2.3M downloadsApr 2026other

LingBot-Depth Dataset

Self-curated RGB-D dataset for training masked depth modeling approaches, containing real-world indoor scenes, VLA robot manipulation tasks, and simulated data across multiple camera types and robot platforms.

rgbdepth
261K downloadsApr 2026CC BY-NC-SA 4.0

Open-H-Embodiment

A multi-embodiment community-driven dataset of paired kinematics and video for training AI autonomy models in surgical robotics and ultrasound applications. The dataset includes tabletop exercises, clinical procedures, and simulations of healthcare robotics tasks.

rgbproprioception
140K downloadsMar 2026cc-by-4.0

OmniAction

A large-scale multimodal dataset for proactive robot manipulation comprising 141,162 episodes with cross-modal contextual instructions derived from spoken dialogue, environmental sounds, and visual cues rather than explicit commands.

rgbaudiolanguage
63K downloadsMar 2026cc-by-nc-4.0

OmniAction

A large-scale multimodal dataset for proactive robot manipulation comprising 141,162 episodes across 112 skills and 748 objects, enriched with audio, visual, and contextual instruction data for cross-modal intention recognition.

rgbaudiolanguage
49K downloadsMar 2026cc-by-nc-4.0