LeTac-MPC Grasping Dataset
收藏arXiv2025-09-30 收录
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https://github.com/ZhengtongXu/LeTac-MPC
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资源简介：
该数据集是为了评估LeTac-MPC方法而收集的，包含了一系列具有不同物理属性的标准化块。此外，该数据集还包括了安装在夹爪上的GelSight传感器提供的触觉反馈，以每秒25赫兹的频率捕获数据。数据集涵盖了多种日常物品，这些物品在物理性质、大小、形状和纹理上各有差异，其任务是对这些日常物品进行抓取和搬运。
This dataset was collected to evaluate the LeTac-MPC method, and contains a set of standardized blocks with diverse physical properties. Furthermore, the dataset incorporates tactile feedback from the GelSight sensor mounted on the gripper, with data sampled at a rate of 25 Hz. The dataset encompasses a wide range of everyday objects that differ in physical properties, size, shape and texture, and the associated task involves grasping and transporting these objects.
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