DexYCB
NVIDIA / University of Washington
Multi-view observations of people grasping objects, with hand and object pose benchmarks.
What you can explore
Study hand–object perception and human-to-robot handover.
Before you use it
Human observations are not robot action trajectories. Retargeting and robot validation are separate work.
Original contributors
Yu-Wei Chao and collaborators
License / access: CC BY-NC 4.0
Understand the data before downloading.
Human hand–object observations · RGB-D images + NPZ labels
SELECTED FIELD
color_file / depth_file
Image paths
Synchronized visual observations, not actions.
- Timing and units
- Check the capture metadata; image samples alone do not define a robot control rate.
- Permissions
- Data: CC BY-NC 4.0. Toolkit: GPL-3.0. MANO assets require their own access terms.
First inspection
- Obtain the dataset and separately licensed MANO assets from the original providers.
- Use the toolkit’s create_dataset example to inspect paths and labels.
- Visualize a sample and confirm missing-label handling before evaluation.
Human joints are not robot joint targets. Check the subject/object split and coordinate conventions before training.
Editorial reference · checked 2026-09-22