AI RESEARCH
HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps
arXiv CS.CV
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ArXi:2604.14944v1 Announce Type: cross We present HRDexDB, a large-scale, multi-modal dataset of high-fidelity dexterous grasping sequences featuring both human and diverse robotic hands. Unlike existing datasets, HRDexDB provides a comprehensive collection of grasping trajectories across human hands and multiple robot hand embodiments, spanning 100 diverse objects. Leveraging state-of-the-art vision methods and a new dedicated multi-camera system, our HRDexDB offers high-precision spatiotemporal 3D ground-truth motion for both the agent and the manipulated object.