FBK-TeV/FreeGraspData
收藏Hugging Face2025-06-23 更新2025-04-12 收录
下载链接：
https://hf-mirror.com/datasets/FBK-TeV/FreeGraspData
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资源简介：
FreeGraspData是一个基于自由形式语言指令的机器人推理和抓取任务的数据集。它建立在MetaGraspNetv2数据集之上，包含具有挑战性的机器人视觉方面，如多视角RGB-D图像和元数据。FreeGraspData在三个方面扩展了MetaGraspNetV2：提供了抓取序列的地面真相、基于遮挡级别和实例模糊性对任务难度进行分类，并提供了由人类注释者收集的自由形式语言指令。数据集适用于评估机器人抓取任务。
FreeGraspData is a dataset for robotic reasoning and grasping tasks based on free-form language instructions. It is built upon the MetaGraspNetv2 dataset, which includes challenging aspects of robot vision such as multi-view RGB-D images and metadata. FreeGraspData extends MetaGraspNetV2 in three aspects: providing ground-truth grasp sequences, categorizing task difficulty based on obstruction level and instance ambiguity, and offering free-form language instructions collected from human annotators. The dataset is suitable for evaluating robotic grasping tasks.
提供机构：
FBK-TeV
