UCBProject/baseline_3_v4_collection_assets

这是一个已归档的机器人抓取模拟资产数据集，名为baseline_3 v4 - Sim Collection Assets。它包含用于扩散策略（diffusion-policy）训练的模拟收集资产，主要基于DexYCB和OakInk源数据。数据集包括重定向的DexYCB hdf5文件（用于模拟收集的输入）、YCB对象的CAD USD文件（带纹理）、部分已收集的模拟hdf5数据、结果日志以及用于恢复和分块运行的脚本。这些资产旨在支持机器人操作和抓取任务，但由于glibc不兼容问题，原计划在A6000系统上的模拟收集被放弃，实际在dev box（RTX 5090）上完成。数据集已归档，仅作参考和可重复性用途，当前训练数据可在其他HuggingFace数据集中找到。This is an archived robotics grasping simulation assets dataset named baseline_3 v4 - Sim Collection Assets. It contains simulation collection assets for diffusion-policy training, primarily based on DexYCB and OakInk source data. The dataset includes retargeted DexYCB hdf5 files (input for simulation collection), YCB object CAD USD files (with textures), partially collected simulation hdf5 data, results logs, and scripts for resuming and chunked runs. These assets are intended to support robotics manipulation and grasping tasks, but due to glibc incompatibility issues, the planned simulation collection on the A6000 system was abandoned and actually completed on a dev box (RTX 5090). The dataset is archived for reference and reproducibility purposes, with current training data available in other HuggingFace datasets.