HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
HRDexDB is a new dataset pairing human and multiple robot hands performing dexterous grasping of objects. It provides synchronized 3D motion, object poses, and tactile signals across different hand types. This resource allows researchers to study how skillful grasping strategies transfer between human dexterity and diverse robotic embodiments.