BimanGrasp-Dataset
收藏arXiv2025-09-30 收录
下载链接：
https://github.com/tsunami-kun/bimangrasp-dataset
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资源简介：
该数据集是首个大规模的双手灵巧手抓握姿态综合数据集，包含了超过15万个经过验证的抓握姿态，这些姿态是针对900个不同物体的。该数据集通过数据驱动的方法，促进了双手抓握的综合。其规模之大，体现在拥有150,000个针对900种物体的验证抓握上，旨在为灵巧机器人手的双手抓握综合任务提供支持。
This is the first large-scale comprehensive dataset for dexterous bimanual robotic grasp poses, encompassing over 150,000 validated grasp poses for 900 distinct objects. It facilitates comprehensive bimanual grasp synthesis via data-driven approaches, and is tailored to support bimanual grasp synthesis tasks for dexterous robotic hands with its scale of 150,000 validated grasps across 900 object categories.
