{"paper":{"title":"HRDexDB: A Paired Human-Robot Dataset for Cross-Embodiment Dexterous Grasping","license":"http://creativecommons.org/licenses/by/4.0/","headline":"HRDexDB supplies aligned human and robotic dexterous grasp sequences on the same 100 objects with synchronized 3D motion, tactile, and video data.","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Byungjun Kim, Hanbyul Joo, Jisoo Kim, Jongbin Lim, Mingi Choi, Subin Jeon, Taeyun Ha","submitted_at":"2026-04-16T12:38:14Z","abstract_excerpt":"We present HRDexDB, a paired cross-embodiment dexterous grasping 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 dedicated multi-camera system, HRDexDB offers high-precision spatiotemporal 3D ground-truth motion for both the agent and the manipulated object. The dataset comprises 2.1K grasping trials, each enriched"},"claims":{"count":4,"items":[{"kind":"strongest_claim","text":"By providing closely aligned captures of human dexterity and robotic execution on the same target objects under comparable grasping motions, HRDexDB serves as a foundational benchmark for multi-modal policy learning and cross-domain dexterous manipulation.","source":"verdict.strongest_claim","status":"machine_extracted","claim_id":"C1","attestation":"unclaimed"},{"kind":"weakest_assumption","text":"The new multi-camera system and state-of-the-art vision methods produce sufficiently high-precision, synchronized 3D ground-truth and tactile signals that are free of significant artifacts or domain gaps between human and robot captures.","source":"verdict.weakest_assumption","status":"machine_extracted","claim_id":"C2","attestation":"unclaimed"},{"kind":"one_line_summary","text":"HRDexDB is a multi-modal dataset of 1.4K human and robotic dexterous grasps across 100 objects, providing aligned 3D kinematics, high-resolution tactile data, and video streams.","source":"verdict.one_line_summary","status":"machine_extracted","claim_id":"C3","attestation":"unclaimed"},{"kind":"headline","text":"HRDexDB supplies aligned human and robotic dexterous grasp sequences on the same 100 objects with synchronized 3D motion, tactile, and video data.","source":"verdict.pith_extraction.headline","status":"machine_extracted","claim_id":"C4","attestation":"unclaimed"}],"snapshot_sha256":"3fad9decf6398faeafa130c48d25aa36ac77dfa8762eb5c7fda75ecc25ebc5b3"},"source":{"id":"2604.14944","kind":"arxiv","version":2},"verdict":{"id":"e8406ee5-d07b-47d5-941c-8511d6044eda","model_set":{"reader":"grok-4.3"},"created_at":"2026-05-10T10:45:26.623896Z","strongest_claim":"By providing closely aligned captures of human dexterity and robotic execution on the same target objects under comparable grasping motions, HRDexDB serves as a foundational benchmark for multi-modal policy learning and cross-domain dexterous manipulation.","one_line_summary":"HRDexDB is a multi-modal dataset of 1.4K human and robotic dexterous grasps across 100 objects, providing aligned 3D kinematics, high-resolution tactile data, and video streams.","pipeline_version":"pith-pipeline@v0.9.0","weakest_assumption":"The new multi-camera system and state-of-the-art vision methods produce sufficiently high-precision, synchronized 3D ground-truth and tactile signals that are free of significant artifacts or domain gaps between human and robot captures.","pith_extraction_headline":"HRDexDB supplies aligned human and robotic dexterous grasp sequences on the same 100 objects with synchronized 3D motion, tactile, and video data."},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2604.14944/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}