# Dexonomy

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

- id: `dexonomy`
- kind: grasping
- robot or device: dexterous hands, 31 GRASP taxonomy types (class: dexterous hand)
- how collected: simulation synthesis
- size as stated: 10.7k objects; 9.5M grasps
- hours: not stated | hours only claimed: none | episodes: not stated
- year: 2025
- organisation: Peking University, Galbot
- licence: not stated (class: not stated)
- access: open (class: open)
- link (dataset): https://pku-epic.github.io/Dexonomy/
- note: Grasp-type-conditioned dexterous grasps.

## Copies and ports on the Hugging Face Hub

Uploads whose name carries this dataset's name, most downloaded first. Each has its own licence, which can differ from the original's.

| repository | robot | class | kind | episodes | hours | licence | downloads (30 d) |
|---|---|---|---|---|---|---|---|
| [JiayiChenPKU/Dexonomy](https://datasets.gurasees.com/datasets/JiayiChenPKU/Dexonomy.md) | not stated | other | other |  |  | non commercial | 379 |

Confirm the licence at the link before relying on it.