# Adroit human demonstrations (DAPG, D4RL human)

From the catalogue. Listed by one researcher from one source page.

- id: `adroit-human-demonstrations-dapg-d4rl-human`
- kind: teleop
- robot or device: ADROIT 24-DoF anthropomorphic hand (Shadow Hand) in MuJoCo (class: dexterous hand)
- how collected: CyberGlove III with HTC Vive tracker and headset in MuJoCo HAPTIX
- size as stated: 25 human demonstrations per task, 4 tasks (pen, door, hammer, relocate); pen human is 5,000 steps
- hours: not stated | hours only claimed: none | episodes: not stated
- year: 2017
- organisation: University of Washington / UC Berkeley / OpenAI (Rajeswaran et al.); D4RL and Farama Minari rehost
- licence: not stated (class: not stated)
- access: open (class: open)
- link (dataset): https://minari.farama.org/datasets/D4RL/pen/human-v2/
- note: D4RL cloned mixes demos 50-50 with BC rollouts; expert is RL policy.

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