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GaiaHandDataset Merged Dataset Summary
| Robot | Samples | Vector Dim | dtype | Objects |
|---|---|---|---|---|
| allegro | 7189 | 25 | torch.float32 | 41 |
| barrett | 7962 | 17 | torch.float32 | 57 |
| gaiahand | 12872 | 21 | torch.float32 | 13 |
| shadowhand | 18286 | 33 | torch.float32 | 56 |
Object Family Coverage
| Robot | contactdb | ycb | multigrasp |
|---|---|---|---|
| allegro | 15 | 26 | 0 |
| barrett | 31 | 26 | 0 |
| gaiahand | 0 | 0 | 13 |
| shadowhand | 31 | 25 | 0 |
allegro: Per-object breakdown (41 classes)
| Object | Samples |
|---|---|
| ycb+plum | 200 |
| contactdb+alarm_clock | 195 |
| contactdb+apple | 195 |
| contactdb+banana | 195 |
| contactdb+binoculars | 195 |
| contactdb+camera | 195 |
| contactdb+cell_phone | 195 |
| contactdb+cube_medium | 195 |
| contactdb+hammer | 195 |
| contactdb+mouse | 195 |
| contactdb+ps_controller | 195 |
| contactdb+pyramid_medium | 195 |
| contactdb+pyramid_small | 195 |
| contactdb+rubber_duck | 195 |
| ycb+baseball | 195 |
| ycb+bleach_cleanser | 195 |
| ycb+foam_brick | 195 |
| ycb+gelatin_box | 195 |
| ycb+hammer | 195 |
| ycb+lemon | 195 |
| ycb+mini_soccer_ball | 195 |
| ycb+mustard_bottle | 195 |
| ycb+orange | 195 |
| ycb+peach | 195 |
| ycb+pear | 195 |
| ycb+potted_meat_can | 195 |
| ycb+power_drill | 195 |
| ycb+pudding_box | 195 |
| ycb+rubiks_cube | 195 |
| ycb+sponge | 195 |
| ycb+strawberry | 195 |
| ycb+sugar_box | 195 |
| ycb+tuna_fish_can | 195 |
| contactdb+pyramid_large | 177 |
| ycb+tomato_soup_can | 171 |
| ycb+master_chef_can | 153 |
| ycb+wood_block | 105 |
| contactdb+piggy_bank | 97 |
| ycb+pitcher_base | 35 |
| ycb+cracker_box | 10 |
| ycb+toy_airplane | 1 |
barrett: Per-object breakdown (57 classes)
| Object | Samples |
|---|---|
| contactdb+rubber_duck | 160 |
| contactdb+alarm_clock | 140 |
| contactdb+apple | 140 |
| contactdb+banana | 140 |
| contactdb+binoculars | 140 |
| contactdb+camera | 140 |
| contactdb+cell_phone | 140 |
| contactdb+cube_large | 140 |
| contactdb+cube_medium | 140 |
| contactdb+cube_small | 140 |
| contactdb+cylinder_large | 140 |
| contactdb+cylinder_medium | 140 |
| contactdb+cylinder_small | 140 |
| contactdb+door_knob | 140 |
| contactdb+elephant | 140 |
| contactdb+flashlight | 140 |
| contactdb+hammer | 140 |
| contactdb+light_bulb | 140 |
| contactdb+piggy_bank | 140 |
| contactdb+ps_controller | 140 |
| contactdb+pyramid_large | 140 |
| contactdb+pyramid_medium | 140 |
| contactdb+pyramid_small | 140 |
| contactdb+stanford_bunny | 140 |
| contactdb+stapler | 140 |
| contactdb+toothpaste | 140 |
| contactdb+torus_large | 140 |
| contactdb+torus_medium | 140 |
| contactdb+torus_small | 140 |
| contactdb+train | 140 |
| contactdb+water_bottle | 140 |
| ycb+baseball | 140 |
| ycb+bleach_cleanser | 140 |
| ycb+cracker_box | 140 |
| ycb+foam_brick | 140 |
| ycb+gelatin_box | 140 |
| ycb+hammer | 140 |
| ycb+lemon | 140 |
| ycb+master_chef_can | 140 |
| ycb+mini_soccer_ball | 140 |
| ycb+mustard_bottle | 140 |
| ycb+orange | 140 |
| ycb+peach | 140 |
| ycb+pear | 140 |
| ycb+pitcher_base | 140 |
| ycb+plum | 140 |
| ycb+potted_meat_can | 140 |
| ycb+power_drill | 140 |
| ycb+pudding_box | 140 |
| ycb+rubiks_cube | 140 |
| ycb+sponge | 140 |
| ycb+strawberry | 140 |
| ycb+sugar_box | 140 |
| ycb+tomato_soup_can | 140 |
| ycb+tuna_fish_can | 140 |
| ycb+wood_block | 140 |
| ycb+toy_airplane | 102 |
gaiahand: Per-object breakdown (13 classes)
| Object | Samples |
|---|---|
| pear | 1419 |
| strawberry | 1419 |
| bulb | 1275 |
| bottle | 1147 |
| cube_small | 1055 |
| cylinder | 1022 |
| duck | 975 |
| train | 961 |
| knob | 835 |
| camera | 834 |
| cube | 720 |
| mouse | 704 |
| controller | 506 |
shadowhand: Per-object breakdown (56 classes)
| Object | Samples |
|---|---|
| contactdb+door_knob | 825 |
| contactdb+banana | 785 |
| contactdb+cube_small | 785 |
| contactdb+flashlight | 785 |
| contactdb+hammer | 785 |
| contactdb+light_bulb | 785 |
| contactdb+ps_controller | 785 |
| contactdb+pyramid_small | 785 |
| contactdb+rubber_duck | 785 |
| contactdb+train | 785 |
| contactdb+cylinder_small | 700 |
| contactdb+apple | 698 |
| contactdb+stanford_bunny | 655 |
| contactdb+binoculars | 638 |
| contactdb+elephant | 529 |
| contactdb+torus_large | 497 |
| contactdb+stapler | 489 |
| contactdb+torus_medium | 431 |
| ycb+hammer | 429 |
| contactdb+alarm_clock | 420 |
| contactdb+toothpaste | 417 |
| contactdb+camera | 403 |
| contactdb+cell_phone | 364 |
| contactdb+pyramid_medium | 348 |
| ycb+strawberry | 303 |
| ycb+peach | 269 |
| ycb+power_drill | 266 |
| contactdb+mouse | 261 |
| ycb+lemon | 254 |
| contactdb+water_bottle | 243 |
| ycb+plum | 235 |
| ycb+baseball | 229 |
| ycb+pear | 177 |
| ycb+orange | 169 |
| contactdb+torus_small | 164 |
| ycb+foam_brick | 159 |
| contactdb+cylinder_medium | 115 |
| contactdb+piggy_bank | 104 |
| ycb+rubiks_cube | 99 |
| ycb+tuna_fish_can | 83 |
| contactdb+cube_medium | 35 |
| ycb+gelatin_box | 31 |
| ycb+sponge | 30 |
| ycb+potted_meat_can | 29 |
| ycb+master_chef_can | 20 |
| ycb+mustard_bottle | 20 |
| ycb+bleach_cleanser | 15 |
| contactdb+pyramid_large | 13 |
| ycb+tomato_soup_can | 12 |
| ycb+sugar_box | 9 |
| ycb+mini_soccer_ball | 8 |
| ycb+toy_airplane | 7 |
| contactdb+cylinder_large | 6 |
| ycb+pudding_box | 6 |
| ycb+pitcher_base | 5 |
| ycb+wood_block | 2 |
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