DA$^{2}$ Dataset: Toward Dexterity-Aware Dual-Arm Grasping
نویسندگان
چکیده
In this paper, we introduce DA$^2$, the first large-scale dual-arm dexterity-aware dataset for generation of optimal bimanual grasping pairs arbitrary large objects. The contains about 9M parallel-jaw grasps, generated from more than 6000 objects and each labeled with various grasp dexterity measures. addition, propose an end-to-end evaluation model trained on rendered scenes dataset. We utilize as our baseline to show value novel nontrivial by both online analysis real robot experiments. All data related code will be open-sourced at https://sites.google.com/view/da2dataset.
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ژورنال
عنوان ژورنال: IEEE robotics & automation letters
سال: 2022
ISSN: ['2377-3766']
DOI: https://doi.org/10.1109/lra.2022.3189959