researcher2026-1/

UNISON-Sim

	UNISON-Sim




	


	Dataset Summary

UNISON-Sim is a large-scale raw simulation dataset of dexterous hand-object interactions. The dataset records complete grasp episodes with synchronized visual observations and physical hand states. Each episode covers multiple stages of an interaction, including hand approach, contact formation, object lifting and holding, and object return. At each recorded timestep, UNISON-Sim provides:

RGB observations of the hand-object interaction… See the full description on the dataset page: https://huggingface.co/datasets/researcher2026-1/UNISON-Sim.