LET-Dex: 全尺寸人形机器人灵巧手力觉触觉数据集

{
  "location": "北京训练场-A10",
  "primaryScene": "家庭生活-H",
  "primarySceneCode": "FAMILY LIFE - H",
  "secondaryScene": "清洁整理-C",
  "secondarySceneCode": "CLEANING - C",
  "tertiaryScene": "餐桌清洁-05",
  "tertiarySceneCode": "Table cleaning-05",
  "initSceneText": "餐桌清洁",
  "englishInitSceneText": "Table cleaning",
  "taskGroupName": "",
  "taskGroupCode": "",
  "taskName": "灵心巧手桌面物品整理",
  "taskCode": "Clean-up desktop items",
  "deviceSn": "p4-353",
  "taskPrompt": "",
  "marks": [
    {
      "taskId": "2001489017564172288",
      "markStart": "2025-12-19 10:38:48.719",
      "markEnd": "2025-12-19 10:38:58.802",
      "duration": 10.083,
      "startPosition": "0.0017753813694877166",
      "endPosition": "0.18258613462251694",
      "skillAtomic": "pick up",
      "skillDetail": "初始双手置于胸前。右手将桌面的抹布拿起",
      "enSkillDetail": "initial hands on the chest. right hand picks up the rag of the desktop",
      "markType": "step"
    },
    {
      "taskId": "2001489017564172288",
      "markStart": "2025-12-19 10:38:58.802",
      "markEnd": "2025-12-19 10:39:01.808",
      "duration": 3.006,
      "startPosition": "0.18258613462251694",
      "endPosition": "0.23649765320502625",
      "skillAtomic": "placement",
      "skillDetail": "根据物品种类将抹布放置在右手边的收纳箱中",
      "enSkillDetail": "place the rag in the box on the right side according to the type of item",
      "markType": "step"
    },
    {
      "taskId": "2001489017564172288",
      "markStart": "2025-12-19 10:39:01.808",
      "markEnd": "2025-12-19 10:39:07.892",
      "duration": 6.084,
      "startPosition": "0.23649765320502625",
      "endPosition": "0.34559571995346183",
      "skillAtomic": "pick up",
      "skillDetail": "右手将桌面的圆形海绵球物品拿起",
      "enSkillDetail": "right hand picks up the table's spongeball articles",
      "markType": "step"
    },
    {
      "taskId": "2001489017564172288",
      "markStart": "2025-12-19 10:39:07.892",
      "markEnd": "2025-12-19 10:39:11.002",
      "duration": 3.11,
      "startPosition": "0.34559571995346183",
      "endPosition": "0.4013777582532286",
      "skillAtomic": "placement",
      "skillDetail": "根据物品种类将圆形海绵球放置在右手边的收纳箱中",
      "enSkillDetail": "place a circular sponge ball in the box on the right hand according to the type of object",
      "markType": "step"
    },
    {
      "taskId": "2001489017564172288",
      "markStart": "2025-12-19 10:39:11.002",
      "markEnd": "2025-12-19 10:39:20.818",
      "duration": 9.816,
      "startPosition": "0.4013777582532286",
      "endPosition": "0.5774127670053398",
      "skillAtomic": "pick up",
      "skillDetail": "左手将桌面的香蕉拿起",
      "enSkillDetail": "take the bananas from the desktop in the left hand",
      "markType": "step"
    },
    {
      "taskId": "2001489017564172288",
      "markStart": "2025-12-19 10:39:20.818",
      "markEnd": "2025-12-19 10:39:27.123",
      "duration": 6.305,
      "startPosition": "0.5774127670053398",
      "endPosition": "0.6904757476850609",
      "skillAtomic": "placement",
      "skillDetail": "根据物品种类将香蕉放置在左手边的收纳箱中",
      "enSkillDetail": "bananas placed in the box on the left side according to the type of item",
      "markType": "step"
    }
  ]
}

LET-Dex-Dataset/
├── datasets/
│   └── rosbag/
│       └── tactile/
│           └── real/
│               └── Labelled/           # 16 个灵巧手任务
│                   ├── Clean-up_desktop_items-P4-Linker_Hand_L6/
│                   ├── Express_Delivery_Scanning_01-P4-Linker_Hand_L6/
│                   ├── Express_Delivery_Scanning_02-P4-Linker_Hand_L6/
│                   ├── Load_it_up-P4-Linker_Hand_L6/
│                   ├── Package_scan-P4-Linker_Hand_L6/
│                   ├── Push_The_Cardboard_Box_To_The_Position_With_Resistance-P4-Linker_Hand_L6/
│                   ├── SF_Express_Parcel_Sorting-P4-Linker_Hand_L6/
│                   ├── Smart_postal_packages-P4-Linker_Hand_L6/
│                   ├── Smartandfast-forward-P4-Linker_Hand_L6/
│                   ├── Task_mass_check-P4-Linker_Hand_L6/
│                   ├── Toothpaste_Box_Feeding-P4-Linker_Hand_L6/
│                   ├── Toothpaste_Box_Storage_01-P4-Linker_Hand_L6/
│                   ├── Toothpaste_Box_Storage_02-P4-Linker_Hand_L6/
│                   ├── Unilever_FMCG_Standard_Feeding-P4-Linker_Hand_L6/
│                   ├── Water_Bottle_Delivery-P4-Linker_Hand_L6/
│                   └── Wipe_The_Blackboard-P4-Linker_Hand_L6/
└── docs/

@misc{LET_Dex2025,
    title={LET:Full-size humanoid robot real machine force and tactile dataset},
    author={LejuRobotics},
    year={2025},
    howpublished={\url{https://ai.atomgit.com/lejurobot/LET-Dex-Dataset}}
}

@misc{LET_Dex2025,
    title={LET:Full-size humanoid robot real machine force and tactile dataset},
    author={LejuRobotics},
    year={2025},
    howpublished={\url{https://www.modelscope.cn/datasets/lejurobot/LET-Dex-Dataset}}
}