retarget2026apache-2.0
SPIDER retarget_full
7,876 successful right-hand dexterous manipulation trajectories retargeted across multiple robot platforms (Allegro, Xhand, Inspire, Sharpa) from human demonstrations in DexYCB, HOT3D v2, HRDexDB, and OakInk datasets.
Downloads135
Episodes7876
Why This Matters for Physical AI
This dataset enables research in cross-embodiment motion retargeting and dexterous manipulation by providing verified, successful robot trajectories converted from human demonstrations across multiple hand platforms in MuJoCo simulation.
Technical Profile
- Modalities
- joint_positionspoint_cloudproprioception
- Robot Embodiments
- AllegroXhandInspireSharpa
- Action Space
- joint_positions
- Environment
- simulation
- Task Types
- dexterous_manipulationgraspinglifting
- Episodes
- 7876
- Data Format
- npz
- Annotation Types
- action_labelsIK_referenceskeypointsmetrics
- License
- apache-2.0
Community Signals
HuggingFace Discussions1
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