Kinesthetic Demonstrations and Interaction Data

该数据集包含了Sawyer机器人臂使用工具的动态演示，同时还包括通过随机动作以及从动作提议模型中采集的额外交互数据。数据集中涵盖了多种工具和交互方式，这有助于评估机器人使用新奇物体时的即兴发挥能力。具体规模包括：开源数据集中的16,000个随机轨迹，5,052个带工具的随机轨迹，1,754个来自动作提议模型的样本，以及1,200个演示。任务内容涵盖了使用各种工具进行清扫、刮擦和擦拭等工具使用任务。

This dataset contains dynamic demonstrations of tool manipulation by the Sawyer robotic arm, alongside additional interaction data collected through random actions and sampled from an action proposal model. It encompasses a diverse set of tools and interaction modes, which facilitates the assessment of robots' improvisational abilities when utilizing novel objects. The specific scale of the dataset is as follows: 16,000 random trajectories from the open-source dataset, 5,052 tool-using random trajectories, 1,754 samples derived from the action proposal model, and 1,200 demonstration trajectories. The task coverage includes various tool-use tasks such as sweeping, scraping, and wiping.