207 successful grasp + lift trajectories collected in IsaacSim 5.1 + cuRobo
0.8 from OakInk hand-pose sequences, retargeted onto a Franka 2-finger
gripper. Used as an add-on to the DexYCB-sourced training set
(UCBProject/DP3_DexYCB_training_data)
for the next round of baseline_3 v4 Diffusion Policy 3D training.
Source code:
UCB_Project @ gate3-curobo-ik
— collector sim/run_grasp_sim_baseline3_v4.py, retarget
Baseline1/oakink/retarget_oakink.py, orchestrator… See the full description on the dataset page:
https://huggingface.co/datasets/UCBProject/DP3_OakInk_training_data.
