---
license: cc-by-4.0
---
# Dataset Card for DexCap-Data

## Table of Contents
- [Table of Contents](#table-of-contents)
- [Dataset Description](#dataset-description)
  - [Dataset Summary](#dataset-summary)
- [Dataset Structure](#dataset-structure)
- [Dataset Creation](#dataset-creation)
- [Additional Information](#additional-information)
  - [Licensing Information](#licensing-information)
  - [Citation Information](#citation-information)

## Dataset Description

- **Homepage:** https://dex-cap.github.io/
- **Repository:** https://github.com/j96w/DexCap
- **Paper:** https://arxiv.org/abs/2403.07788

### Dataset Summary

This is the official dataset collected by the DexCap system to train dexterous robot manipulation using human hand motion capture data, as presented in the [paper](https://arxiv.org/abs/2403.07788). It contains 30 minutes of mocap data for the wiping task and 60 minutes of in-the-wild mocap data for the packaging task.

## Dataset Structure

Both raw data (`.zip`) and postprocessed data (`.hdf5`) are provided. The raw data is structured as follows:
```
save_data_scenario_1
├── frame_0
│   ├── color_image.jpg           # Chest camera RGB image
│   ├── depth_image.png           # Chest camera depth image
│   ├── pose.txt                  # Chest camera 6-DoF pose in world frame
│   ├── pose_2.txt                # Left hand 6-DoF pose in world frame
│   ├── pose_3.txt                # Right hand 6_DoF pose in world frame
│   ├── left_hand_joint.txt       # Left hand joint positions (3D) in the palm frame
│   └── right_hand_joint.txt      # Right hand joint positions (3D) in the palm frame
├── frame_1
└── ...
```
Details on how to postprocess the raw data into a training dataset (`.hdf5`) are introduced in the [GitHub repo](https://github.com/j96w/DexCap). The training scripts for policy learning with the HDF5 dataset are also included in the repo.

## Dataset Creation

All data are collected by the [DexCap system](https://dex-cap.github.io/).

## Additional Information

### Licensing Information

This dataset is released under the [Creative Commons Attribution 4.0 International (CC BY 4.0)](https://creativecommons.org/licenses/by/4.0/legalcode) license.

### Citation Information

```bibtex
@article{wang2024dexcap,
  title = {DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulation},
  author = {Wang, Chen and Shi, Haochen and Wang, Weizhuo and Zhang, Ruohan and Fei-Fei, Li and Liu, C. Karen},
  journal = {arXiv preprint arXiv:2403.07788},
  year = {2024}
}
```