SharpaRobotics 开源 SharpaDex v1.0 真机灵巧手操作数据集

300 hours. 28,993 demonstrations. 59 tasks.

Touch on all 10 fingertips, in every frame.

We're thrilled to share SharpaDex v1.0 with the robotics community! To our knowledge, SharpaDex is the largest publicly available real-robot dexterous-hand manipulation dataset with fingertip tactile sensing, measured by publicly released demonstration hours containing tactile data as of October 2026.

This release brings together:

• Diverse manipulation: tool use, assembly, deformable-object handling, and long-horizon tasks.

• Synchronized sensing: multi-view RGB, fingertip tactile images, fingertip force/torque, and 65-dimensional joint actions.

• Contact-rich data: approximately 195 hours with at least one fingertip in contact, including 55 hours of simultaneous contact across both hands.

• Hierarchical language annotations: task descriptions, 217,642 temporally grounded subtask segments covering 89.3% of frames, and 45 distinct skill labels.

What excites us most is what comes next: researchers using these data to explore how robots can learn from touch, coordinate both hands, and perform increasingly complex tasks.

We hope SharpaDex becomes a useful resource for visual-tactile VLA models, tactile representation learning, and general-purpose dexterous manipulation. We can't wait to see what you build—and learn alongside you.

Available in LeRobot v3.0 and v2.1 formats under CC BY-NC 4.0.

Explore the data, tasks, and annotations through our report and interactive visualizations, or download the dataset to get started:

Dataset on Hugging Face：huggingface.co/datasets/Shar…