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--- |
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language: en |
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tags: |
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- robotics |
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- grasping |
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- dual-arm |
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- SE(3) x SE(3) |
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- point-cloud |
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- physics |
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- dual-arm grasping |
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license: apache-2.0 |
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datasets: |
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- dg16m-grasps |
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size_categories: |
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- 10K<n<100K |
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--- |
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This is the dataset used in the paper, "<a href="https://arxiv.org/pdf/2509.21145">DAGDiff: Guiding Dual-Arm Grasp Diffusion to Stable and Collision-Free Grasps</a>". |
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<a href="https://dag-diff.github.io/dagdiff/">[Project Page]</a> <span> <a href="https://arxiv.org/abs/2509.21145">[arXiv]</a> <span> <a href="https://github.com/DAG-Diff/dual-arm-grasp-diffusion">[Github]</a> |
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Each object in the dataset includes: |
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- 3D mesh representations of the object |
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- Signed distance field (SDF) data |
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- Dual-arm grasp annotations (both positive and negative examples) |
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- Split files for training and evaluation (e.g., `train_final.txt`, `test_final.txt`) |
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## Dataset Structure |
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``` |
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dagdiff-dataset |
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├── train_final.txt |
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├── test_final.txt |
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├── grasps/ |
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│ ├── 554fa306799d623af7248d9dbed7a7b8.h5 |
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│ ├── c2ad96f56ec726d270a43c2d978e502e.h5 |
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│ ├── .... |
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| |
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├── meshes/ |
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│ ├── 554fa306799d623af7248d9dbed7a7b8.obj |
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│ ├── c2ad96f56ec726d270a43c2d978e502e.obj |
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│ ├── .... |
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└── sdf/ |
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├── 554fa306799d623af7248d9dbed7a7b8.h5 |
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├── c2ad96f56ec726d270a43c2d978e502e.h5 |
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└── .... |
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``` |
