HSP-IIT/HannesImitation

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license: cc-by-4.0
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# Dataset Card for HannesImitation

The HannesImitation dataset is a collection of vision-based grasping demonstrations with the Hannes prosthetic hand.\
The dataset is intended for training control policies using Imitation Learning approaches such as Behavior Cloning.

- 3 grasping scenarios: <i>Table Grasp</i>, <i>Shelf Grasp</i>, <i>Human-to-Hannes Handover</i>.
- 15 objects from the YCB dataset.
- 10 demonstrations per scenario per object for a total of 450 demonstrations.

For additional description, please refer to the paper linked below.

<img src="https://cdn-uploads.huggingface.co/production/uploads/68dd26be4b3139591c331ba8/rDsPubY9QpE7mxo9h6jKW.png" width="400"/>

## Dataset Details

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- **Curated by:** Carlo Alessi ([@carlo-alessi](https://huggingface.co/carlo-alessi)), Humanoid Sensing and Perception ([@HSP-IIT](https://huggingface.co/HSP-IIT))
- **Funded by:** Project [Future Artificial Intelligence Research (FAIR)](https://fondazione-fair.it/en/)
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- **License:** cc-by-4.0

### Dataset Sources

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- **Repository:** [github.com/hsp-iit/HannesImitation](https://github.com/hsp-iit/HannesImitation)
- **Paper:** HannesImitation: Grasping with the Hannes Prosthetic Hand via Imitation Learning ([arXiv](https://arxiv.org/abs/2508.00491))
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## Citation

**BibTeX:**

```bibtex
@inproceedings{alessi2025hannesimitation,
title={HannesImitation: Grasping with the Hannes Prosthetic Hand via Imitation Learning},
author={Alessi, Carlo and Vasile, Federico and Ceola, Federico and Pasquale, Giulia and Boccardo, Nicol{`o} and Natale, Lorenzo},
booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year={2025},
pages={},
organization={}
}
```

**APA:**

Alessi, C., Vasile, F., Ceola, F., Pasquale, G., Boccardo, N., & Natale, L. (2025). \
HannesImitation: Grasping with the Hannes Prosthetic Hand via Imitation Learning. \
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

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