The dataset viewer is not available for this subset.
Exception: SplitsNotFoundError
Message: The split names could not be parsed from the dataset config.
Traceback: Traceback (most recent call last):
File "/src/services/worker/.venv/lib/python3.12/site-packages/datasets/inspect.py", line 289, in get_dataset_config_info
for split_generator in builder._split_generators(
^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/src/services/worker/.venv/lib/python3.12/site-packages/datasets/packaged_modules/webdataset/webdataset.py", line 83, in _split_generators
raise ValueError(
ValueError: The TAR archives of the dataset should be in WebDataset format, but the files in the archive don't share the same prefix or the same types.
The above exception was the direct cause of the following exception:
Traceback (most recent call last):
File "/src/services/worker/src/worker/job_runners/config/split_names.py", line 65, in compute_split_names_from_streaming_response
for split in get_dataset_split_names(
^^^^^^^^^^^^^^^^^^^^^^^^
File "/src/services/worker/.venv/lib/python3.12/site-packages/datasets/inspect.py", line 343, in get_dataset_split_names
info = get_dataset_config_info(
^^^^^^^^^^^^^^^^^^^^^^^^
File "/src/services/worker/.venv/lib/python3.12/site-packages/datasets/inspect.py", line 294, in get_dataset_config_info
raise SplitsNotFoundError("The split names could not be parsed from the dataset config.") from err
datasets.inspect.SplitsNotFoundError: The split names could not be parsed from the dataset config.Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
Dexonomy: Synthesizing All Dexterous Grasp Types in a Grasp Taxonomy
Paper | Project page | Code
Overview
This dataset supports generalizable dexterous grasping with suitable grasp types, a fundamental skill for intelligent robots. It presents an efficient pipeline capable of synthesizing contact-rich, penetration-free, and physically plausible dexterous grasps for any grasp type, object, and articulated hand, starting from just one human-annotated template per hand and grasp type.
Using this algorithm, the Dexonomy dataset was constructed, containing 10.7k objects and 9.5M grasps, covering 31 grasp types in the GRASP taxonomy. The dataset is crucial for developing and training robust, type-conditional generative models for dexterous manipulation.
Dataset structure
|- DGN_5k_processed.tar.gz # Our pre-proposed meshes and training splits.
|- DGN_5k_vision.tar.gz # The single-view point clouds. Only used for training networks.
|- objaverse_5k_processed.tar.gz
|- objaverse_5k_vision.tar.gz
|_ Dexonomy_GRASP_shadow.tar.gz # 9.5M successful grasps including 31 types from the GRASP taxonomy
Citation
If you find this work useful for your research, please consider citing:
@article{chen2025dexonomy,
title={Dexonomy: Synthesizing All Dexterous Grasp Types in a Grasp Taxonomy},
author={Chen, Jiayi and Ke, Yubin and Peng, Lin and Wang, He},
journal={Robotics: Science and Systems},
year={2025}
}
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