SharpaDex v1.0: 300 hours, 28,993 bimanual dexterous demos with fingertip tactile sensing, open-sourced
DJiafei · x · 2026-10-18
Sharpa Robotics released SharpaDex v1.0 on Hugging Face, billed as the largest publicly available real-robot dexterous-hand dataset with fingertip tactile sensing: 300 hours, 28,993 demonstrations across 59 tasks, with touch on all 10 fingertips in every frame.
Data was collected via human teleoperation of a bimanual system (two 7-DoF arms, two 22-DoF hands, four RGB cameras, fingertip tactile/force sensors), totaling 32.4M frames at 30 FPS. Tasks span tool use, assembly, deformable-object handling, cleaning and long-horizon manipulation; 195 hours include fingertip contact, 55 hours with simultaneous bimanual contact. It ships with hierarchical language annotations (217,642 temporally grounded subtask segments) in LeRobot v3.0/v2.1 formats under cc-by-nc-4.0.
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