| { | |
| "name": "DeformableObjectsGrasping", | |
| "url": [ | |
| "https://huggingface.co/datasets/KelinYu1/DeformableObjectsGrasping" | |
| ], | |
| "version": "1.0.0", | |
| "description": "Vision-tactile recordings of pinch and slide interactions with deformable fruits using a custom gripper. Each episode contains synchronized RealSense RGB frames and one exported GelSight tactile stream from a sensor pad on one gripper jaw; no second tactile channel is included in this OXT release. No synchronized gripper aperture, joint-state, wrist-pose, or action trajectory is available, so no hand_joints or hand_joints_idx field is exported and no missing state is synthesized. This OXT conversion includes apple, lemon, orange, plum, and tomato interactions and intentionally omits the non-frame-aligned source position, force, and outcome-label fields.", | |
| "type": "gripper", | |
| "sensor_image": [ | |
| "GelSight" | |
| ], | |
| "sensor_array": [], | |
| "sensor_state": [], | |
| "label": [], | |
| "task": 2, | |
| "trajectory": 1266, | |
| "frame": 37980, | |
| "contact": [ | |
| "Kelin Yu, kyu85@umd.edu" | |
| ], | |
| "reference": { | |
| "paper": "Learning Generalizable Vision-Tactile Robotic Grasping Strategy for Deformable Objects via Transformer", | |
| "website": "https://arxiv.org/abs/2112.06374", | |
| "authors": "Yunhai Han*, Kelin Yu*, Rahul Batra, Nathan Boyd, Chaitanya Mehta, Tuo Zhao, Yu She, Seth Hutchinson, Ye Zhao" | |
| }, | |
| "code_trigger": "DeformableObjectsGrasping" | |
| } | |