feat(registry): add 9 high-value manipulation datasets + access filter

forge/registry/CANDIDATES.md

@@ -0,0 +1,62 @@
+# Registry Candidates — backlog
+
+Datasets researched but **not yet added** to `datasets.json`. These are the
+"Tier 3 / niche-but-notable" set plus anything deferred. Promote one by filling
+in the template in [CONTRIBUTING.md](CONTRIBUTING.md), running
+`forge registry validate --probe`, and moving it out of this file.
+
+Last researched: 2026-07-21. Metadata below is approximate and should be
+re-verified at promotion time (licenses and repo ids drift).
+
+## Tier 3 — niche but notable
+
+### DexMimicGen
+- **What:** Auto-generated **bimanual dexterous-hand** demos — ~21k trajectories
+  from ~60 human source demos across 9 tasks (sim + real). Fills the
+  dexterous-hand gap the registry currently has zero of.
+- **Paper:** https://arxiv.org/abs/2410.24185 · project: https://dexmimicgen.github.io/
+- **License:** check repo (NVIDIA-affiliated; likely NVIDIA Source Code License for code)
+- **Format:** hdf5 (robomimic-style) · **Embodiment:** bimanual dexterous humanoid
+- **Source:** see project page / GitHub
+- **Tags:** manipulation, bi_manual, simulation, contact_rich
+
+### EgoDex (Apple)
+- **What:** Very large **egocentric human** manipulation dataset with paired hand
+  poses; human-video collection paradigm for pretraining.
+- **Paper:** search "EgoDex Apple egocentric manipulation 2025"
+- **License:** verify (Apple research license — likely non-commercial/gated → tag
+  `registration_required` and/or `non_commercial`)
+- **Format:** other (video + hand pose) · **Embodiment:** human hands
+- **Tags:** manipulation, real_world (human)
+
+### FMB — Functional Manipulation Benchmark
+- **What:** Real-world **contact-rich assembly** on a Franka; peg-in-hole style
+  functional manipulation with a standard benchmark protocol.
+- **Paper:** https://functional-manipulation-benchmark.github.io/
+- **License:** verify · **Format:** rlds/other · **Embodiment:** franka
+- **Tags:** manipulation, real_world, contact_rich
+
+### BEHAVIOR-1K / OmniGibson
+- **What:** Huge sim task diversity incl. **mobile manipulation** and household
+  activities; OmniGibson is the simulator, BEHAVIOR-1K the task/dataset suite.
+- **Paper:** https://behavior.stanford.edu/
+- **License:** MIT (verify) · **Format:** other · **Embodiment:** mobile manipulators, humanoid
+- **Tags:** manipulation, mobile_manipulation, simulation, multi_task, large_scale
+
+## Deferred / worth a look
+
+- **Mobile ALOHA (full dataset)** — bimanual **mobile** manipulation; registry
+  already has `aloha_mobile_cabinet`, but the full release is broader.
+  Project: https://mobile-aloha.github.io/
+- **RoboCasa365** — 2026 successor to RoboCasa: 365 tasks, 2,500 scenes,
+  ~600h human + ~1,600h synthetic. Promote once distribution stabilizes.
+- **ARIO** — unified cross-embodiment standard/dataset; overlaps OXE in spirit.
+- **Galaxea Open-World / other 2025-2026 humanoid releases** — re-check scale &
+  licensing before adding.
+
+## Notes on categories still thin after this batch
+
+- **Dexterous multi-fingered hands:** only ManiSkill (partial) + DexMimicGen
+  (candidate). Worth a dedicated dexterous dataset.
+- **Human/egocentric:** UMI added; EgoDex candidate. Room for more (EgoMimic, etc.).
+- **Mobile manipulation:** BEHAVIOR-1K + Mobile ALOHA are the main gaps to close.

forge/registry/CONTRIBUTING.md

@@ -78,6 +78,15 @@ Use from this controlled vocabulary:
 
 `manipulation`, `bi_manual`, `mobile_manipulation`, `humanoid`, `language_conditioned`, `contact_rich`, `simulation`, `real_world`, `multi_task`, `single_task`, `large_scale`
 
+**Access-restriction tags** (surfaced as a dedicated "Access" filter and a badge
+in the registry HTML view — add when a dataset is not freely/openly downloadable):
+
+- `registration_required` — download is gated behind sign-up / an access agreement
+  (e.g. a HuggingFace gated repo or a platform login).
+- `non_commercial` — license forbids commercial use (e.g. CC-BY-NC-SA-4.0).
+
+Always also record the specifics in `notes`.
+
 ## Validation
 
 ```bash