TCDM
收藏arXiv2025-09-30 收录
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资源简介：
该数据集是一个包含50个多样化操作任务的基准，这些任务定义在多个对象和灵巧操作器上，并从示例对象轨迹中创建。此外，还有一个包含30个任务（TCDM-30）的子集，它额外提供了专家手部轨迹和抓握数据的监督。这些任务涵盖了34种不同的对象和3种独特的机器人手平台。这些任务统称为灵巧操作任务。
This dataset is a benchmark containing 50 diverse manipulation tasks, which are defined for multiple objects and dexterous manipulators, and constructed from demonstrated object trajectories. Additionally, a subset of 30 tasks (TCDM-30) provides additional supervision for expert hand trajectories and grasp data. These tasks cover 34 distinct object types and 3 unique robotic hand platforms. Collectively, these tasks are referred to as dexterous manipulation tasks.
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The authors of the paper
