| --- |
| language: en |
| tags: |
| - robotics |
| - grasping |
| - dual-arm |
| - SE(3) x SE(3) |
| - point-cloud |
| - physics |
| - dual-arm grasping |
|
|
| license: apache-2.0 |
| datasets: |
| - dg16m-grasps |
| size_categories: |
| - 10K<n<100K |
| --- |
| |
| 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>". |
|
|
| <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> |
|
|
| Each object in the dataset includes: |
| - 3D mesh representations of the object |
| - Signed distance field (SDF) data |
| - Dual-arm grasp annotations (both positive and negative examples) |
| - Split files for training and evaluation (e.g., `train_final.txt`, `test_final.txt`) |
|
|
| ## Dataset Structure |
|
|
| ``` |
| dagdiff-dataset |
| ├── train_final.txt |
| ├── test_final.txt |
| | |
| ├── grasps/ |
| │ ├── 554fa306799d623af7248d9dbed7a7b8.h5 |
| │ ├── c2ad96f56ec726d270a43c2d978e502e.h5 |
| │ ├── .... |
| | |
| ├── meshes/ |
| │ ├── 554fa306799d623af7248d9dbed7a7b8.obj |
| │ ├── c2ad96f56ec726d270a43c2d978e502e.obj |
| │ ├── .... |
| | |
| └── sdf/ |
| ├── 554fa306799d623af7248d9dbed7a7b8.h5 |
| ├── c2ad96f56ec726d270a43c2d978e502e.h5 |
| └── .... |
| ``` |
|
|
| ## Cite |
|
|
| ``` |
| @article{DAGDiff, |
| title={DAGDiff: Guiding Dual-Arm Grasp Diffusion to Stable and Collision-Free Grasps}, |
| author={Md Faizal Karim and Vignesh Vembar and Keshab Patra and Gaurav Singh and Nagamanikandan Govindan and K Madhava Krishna}, |
| year={2026}, |
| eprint={2509.21145}, |
| url={https://arxiv.org/abs/2509.21145}, |
| } |
| ``` |
