mlsanityData to 14 Oct 2026

Dex1B: Learning with 1B Demonstrations for Dexterous Manipulation

arXiv 2506.17198 ↗First posted 20 Jun 2025cs.RO cs.CVcited by 24

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Abstract (arXiv)

Generating large-scale demonstrations for dexterous hand manipulation remains challenging, and several approaches have been proposed in recent years to address this. Among them, generative models have emerged as a promising paradigm, enabling the efficient creation of diverse and physically plausible demonstrations. In this paper, we introduce Dex1B, a large-scale, diverse, and high-quality demonstration dataset produced with generative models. The dataset contains one billion demonstrations for two fundamental tasks: grasping and articulation. To construct it, we propose a generative model that integrates geometric constraints to improve feasibility and applies additional conditions to enhance diversity. We validate the model on both established and newly introduced simulation benchmarks, where it significantly outperforms prior state-of-the-art methods. Furthermore, we demonstrate its effectiveness and robustness through real-world robot experiments. Our project page is at https://jianglongye.com/dex1b

Key facts. Cited by 24 papers in the map (data through 14 Oct 2026). Builds on 41 of its 56 references that are in the map. First posted on arXiv 20 Jun 2025.

Builds on

41 of 56 references.

References · 41

  1. 2016PointNet: Deep Learning on Point Sets for 3D Classification and Segmentationcited by 5,248
  2. 2024π0: A Vision-Language-Action Flow Model for General Robot Controlcited by 2,407
  3. 2023Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardwarecited by 1,568
  4. 2021Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learningcited by 998
  5. 2020SAPIEN: A SimulAted Part-based Interactive ENvironmentcited by 595
  6. 2024Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robotscited by 394
  7. 2024Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperationcited by 391
  8. 2019Learning joint reconstruction of hands and manipulated objectscited by 378
  9. 2021DexYCB: A Benchmark for Capturing Hand Grasping of Objectscited by 325
  10. 2022ARCTIC: A Dataset for Dexterous Bimanual Hand-Object Manipulationcited by 312
  11. 2024ManiSkill3: GPU Parallelized Robotics Simulation and Rendering for Generalizable Embodied AIcited by 229
  12. 2019Deep Dynamics Models for Learning Dexterous Manipulationcited by 206
29 more
  1. 2021DexMV: Imitation Learning for Dexterous Manipulation from Human Videoscited by 206
  2. 2020ContactPose: A Dataset of Grasps with Object Contact and Hand Posecited by 183
  3. 2021Hand-Object Contact Consistency Reasoning for Human Grasps Generationcited by 160
  4. 2019ContactDB: Analyzing and Predicting Grasp Contact via Thermal Imagingcited by 147
  5. 2022DexGraspNet: A Large-Scale Robotic Dexterous Grasp Dataset for General Objects Based on Simulationcited by 137
  6. 2024ALOHA Unleashed: A Simple Recipe for Robot Dexteritycited by 134
  7. 2020CPF: Learning a Contact Potential Field to Model the Hand-Object Interactioncited by 128
  8. 2023UniDexGrasp: Universal Robotic Dexterous Grasping via Learning Diverse Proposal Generation and Goal-Conditioned Policycited by 124
  9. 2019ContactGrasp: Functional Multi-finger Grasp Synthesis from Contactcited by 87
  10. 2021Synthesizing Diverse and Physically Stable Grasps with Arbitrary Hand Structures using Differentiable Force Closure Estimatorcited by 71
  11. 2023DexArt: Benchmarking Generalizable Dexterous Manipulation with Articulated Objectscited by 66
  12. 2023ContactGen: Generative Contact Modeling for Grasp Generationcited by 53
  13. 2022Grasp'D: Differentiable Contact-rich Grasp Synthesis for Multi-fingered Handscited by 51
  14. 2024DexDiffuser: Generating Dexterous Grasps with Diffusion Modelscited by 48
  15. 2024DextrAH-RGB: Visuomotor Policies to Grasp Anything with Dexterous Handscited by 45
  16. 2024DexGraspNet 2.0: Learning Generative Dexterous Grasping in Large-scale Synthetic Cluttered Scenescited by 44
  17. 2024DextrAH-G: Pixels-to-Action Dexterous Arm-Hand Grasping with Geometric Fabricscited by 42
  18. 2024Object-Centric Dexterous Manipulation from Human Motion Datacited by 41
  19. 2020Deep Differentiable Grasp Planner for High-DOF Gripperscited by 39
  20. 2023Fast-Grasp'D: Dexterous Multi-finger Grasp Generation Through Differentiable Simulationcited by 35
  21. 2022Learning Continuous Grasping Function with a Dexterous Hand from Human Demonstrationscited by 34
  22. 2024RealDex: Towards Human-like Grasping for Robotic Dexterous Handcited by 34
  23. 2023UGG: Unified Generative Graspingcited by 30
  24. 2021DDGC: Generative Deep Dexterous Grasping in Cluttercited by 29
  25. 2022DexTransfer: Real World Multi-fingered Dexterous Grasping with Minimal Human Demonstrationscited by 22
  26. 2022Learning Diverse and Physically Feasible Dexterous Grasps with Generative Model and Bilevel Optimizationcited by 21
  27. 2020Multi-Fingered Active Grasp Learningcited by 13
  28. 2023SynH2R: Synthesizing Hand-Object Motions for Learning Human-to-Robot Handoverscited by 13
  29. 2024RP1M: A Large-Scale Motion Dataset for Piano Playing with Bi-Manual Dexterous Robot Handscited by 4

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2025: 10; 2026: 14.

24 papers.

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  1. 2025Being-H0: Vision-Language-Action Pretraining from Large-Scale Human Videoscited by 102
  2. 2026Being-H0.5: Scaling Human-Centric Robot Learning for Cross-Embodiment Generalizationcited by 66
  3. 2026SimToolReal: An Object-Centric Policy for Zero-Shot Dexterous Tool Manipulationcited by 15
  4. 2025HumanoidGen: Data Generation for Bimanual Dexterous Manipulation via LLM Reasoningcited by 13
  5. 2025Spatial-Aware VLA Pretraining through Visual-Physical Alignment from Human Videoscited by 13
  6. 2025Dexplore: Scalable Neural Control for Dexterous Manipulation from Reference-Scoped Explorationcited by 11
  7. 2025End-to-End Dexterous Arm-Hand VLA Policies via Shared Autonomy: VR Teleoperation Augmented by Autonomous Hand VLA Policy for Efficient Data Collectioncited by 9
  8. 2026Dexora: Open-source VLA for High-DoF Bimanual Dexteritycited by 9
  9. 2026Rethinking Visual-Language-Action Model Scaling: Alignment, Mixture, and Regularizationcited by 7
  10. 2026Data Pyramid for Embodied Manipulation: A Surveycited by 6
  11. 2026Human Universal Graspingcited by 5
  12. 2025From Power to Precision: Learning Fine-grained Dexterity for Multi-fingered Robotic Handscited by 2
12 more
  1. 2026Bench2Dex: Benchmarking Visuo-Tactile Bimanual Dexterous Manipulation Across Dexterous Handscited by 2
  2. 2025UniFucGrasp: Human-Hand-Inspired Unified Functional Grasp Annotation Strategy and Dataset for Diverse Dexterous Handscited by 1
  3. 2025DexCanvas: Bridging Human Demonstrations and Robot Learning for Dexterous Manipulationcited by 1
  4. 2025UniBYD: A Unified Framework for Learning Robotic Manipulation Across Embodiments Beyond Imitation of Human Demonstrationscited by 1
  5. 2026SIM1: Physics-Aligned Simulator as Zero-Shot Data Scaler in Deformable Worldscited by 1
  6. 2026AutoDex: An Automated Real-World System for Dexterous Grasping Data Collectioncited by 1
  7. 2026Play2Perfect: What Matters in Dexterous Play Pretraining for Precise Assembly?cited by 1
  8. 2025Learning to Grasp Anything by Playing with Random Toyscited by 0
  9. 2026DexHoldem: Playing Texas Hold'em with Dexterous Embodied Systemcited by 0
  10. 2026KPGrasp: Scalable Keypoint Flow Matching for Dexterous Grasp Generationcited by 0
  11. 2026PLUME: Probabilistic Latent Unified World Modeling and Parameter Estimation for Multi-Finger Manipulationcited by 0
  12. 2026Mana: Dexterous Manipulation of Articulated Toolscited by 0