Dexterous Hand and Gripper Manipulation Demonstrations
收藏arXiv2025-09-30 收录
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https://norweig1an.github.io/HAJL.github.io/
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资源简介：
该数据集包含了两种模式下的灵巧手和机械爪操作演示：一种是由人类完全控制机器人，另一种是与辅助代理共享控制。该数据集有助于分析在共享控制条件下数据收集的效率，并包含了成功率、视界长度和收集速度的定量评估。数据来源于10位操作者在两种模式（共享控制和直接控制）下的收集，任务涵盖了多阶段操作任务，如拾放、关节操作、推方块和使用工具等。
This dataset contains demonstrations of dexterous hand and robotic gripper operations under two control modes: one where a human fully controls the robot, and the other where control is shared with an auxiliary agent. This dataset supports analysis of data collection efficiency under shared control settings, and includes quantitative assessments of success rate, horizon length, and data collection speed. The data was collected by 10 operators across both control modes (shared control and direct control), with the covered tasks involving multi-stage manipulation operations including pick-and-place, joint manipulation, block pushing, and tool usage, among others.
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