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| license: cc-by-4.0 | |
| # Dataset Card for DexCap-Data | |
| ## Table of Contents | |
| - [Table of Contents](#table-of-contents) | |
| - [Dataset Description](#dataset-description) | |
| - [Dataset Summary](#dataset-summary) | |
| - [Dataset Structure](#dataset-structure) | |
| - [Dataset Creation](#dataset-creation) | |
| - [Additional Information](#additional-information) | |
| - [Licensing Information](#licensing-information) | |
| - [Citation Information](#citation-information) | |
| ## Dataset Description | |
| - **Homepage:** https://dex-cap.github.io/ | |
| - **Repository:** https://github.com/j96w/DexCap | |
| - **Paper:** https://arxiv.org/abs/2403.07788 | |
| ### Dataset Summary | |
| This is the official dataset collected by the DexCap system to train dexterous robot manipulation using human hand motion capture data, as presented in the [paper](https://arxiv.org/abs/2403.07788). It contains 30 minutes of mocap data for the wiping task and 60 minutes of in-the-wild mocap data for the packaging task. | |
| ## Dataset Structure | |
| Both raw data (`.zip`) and postprocessed data (`.hdf5`) are provided. The raw data is structured as follows: | |
| ``` | |
| save_data_scenario_1 | |
| ├── frame_0 | |
| │ ├── color_image.jpg # Chest camera RGB image | |
| │ ├── depth_image.png # Chest camera depth image | |
| │ ├── pose.txt # Chest camera 6-DoF pose in world frame | |
| │ ├── pose_2.txt # Left hand 6-DoF pose in world frame | |
| │ ├── pose_3.txt # Right hand 6_DoF pose in world frame | |
| │ ├── left_hand_joint.txt # Left hand joint positions (3D) in the palm frame | |
| │ └── right_hand_joint.txt # Right hand joint positions (3D) in the palm frame | |
| ├── frame_1 | |
| └── ... | |
| ``` | |
| Details on how to postprocess the raw data into a training dataset (`.hdf5`) are introduced in the [GitHub repo](https://github.com/j96w/DexCap). The training scripts for policy learning with the HDF5 dataset are also included in the repo. | |
| ## Dataset Creation | |
| All data are collected by the [DexCap system](https://dex-cap.github.io/). | |
| ## Additional Information | |
| ### Licensing Information | |
| This dataset is released under the [Creative Commons Attribution 4.0 International (CC BY 4.0)](https://creativecommons.org/licenses/by/4.0/legalcode) license. | |
| ### Citation Information | |
| ```bibtex | |
| @article{wang2024dexcap, | |
| title = {DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulation}, | |
| author = {Wang, Chen and Shi, Haochen and Wang, Weizhuo and Zhang, Ruohan and Fei-Fei, Li and Liu, C. Karen}, | |
| journal = {arXiv preprint arXiv:2403.07788}, | |
| year = {2024} | |
| } | |
| ``` |