HATO Collected Datasets

该数据集由人类操作员在使用具有多指手的远程操作系统上执行四种双手操作任务时所收集的数据组成。这些任务包括滑动手递、堆叠塔块、倒酒和服务牛排。数据集包含了持续时间为6秒至40秒的演示，适合于研究多指灵巧性和触觉反馈在机器人操作中的影响。在滑动手递和堆叠塔块任务中，各有100个演示；而在倒酒和服务牛排任务中，各有300个演示。这些任务的目的是为了研究双手操作在各种情境下的表现。

This dataset comprises data collected by human operators when executing four bimanual manipulation tasks on a teleoperation system equipped with multi-fingered hands. The tasks include sliding hand handover, stacking tower blocks, wine pouring, and steak serving. The dataset contains demonstrations with durations ranging from 6 seconds to 40 seconds, which is ideal for researching the impacts of dexterous multi-fingered manipulation and haptic feedback in robotic manipulation. For the sliding hand handover and stacking tower blocks tasks, there are 100 demonstrations each; for the wine pouring and steak serving tasks, there are 300 demonstrations each. These tasks are intended to study the performance of bimanual manipulation across diverse scenarios.