CLARU
faizalkarimapache-2.0

DAGDiff: Dual-Arm Grasp Dataset

A dataset of dual-arm grasp annotations for stable and collision-free grasping, including 3D mesh representations, signed distance field data, and both positive and negative grasp examples.

Downloads88
Likes1

Technical Profile

Modalities
point_cloudmesh
Robot Embodiments
dual-arm manipulator
Task Types
graspingdual-arm grasping
Data Format
HDF5
License
apache-2.0
Part of the DAGDiff: Dual-Arm Grasp Dataset family

Access

View on HuggingFace

Need custom point_cloud data?

Claru builds purpose-built datasets for any environment applications with dense human annotations and quality assurance.

Request a Sample Pack

Related Datasets

Xperience-10M

A large-scale egocentric multimodal dataset of human experience containing 10 million interactions and 10,000 hours of synchronized first-person recordings with six video streams, audio, stereo depth, camera pose, hand mocap, full-body mocap, IMU, and hierarchical language annotations for embodied AI, robotics, and world modeling research.

rgbaudiodepthproprioception+3
2.3M downloadsApr 2026other

TartanGround

A large-scale, multi-modal dataset designed to advance perception and autonomy of ground robots operating in diverse environments, collected across 63 photorealistic simulation environments with over 1.44 million samples from 878 trajectories.

rgbdepthsemantic_segmentationoptical_flow+5
28K downloadsOct 2025cc-by-4.0

ManiTwin-100K: Manipulation-Ready Digital Object Twins

A large-scale dataset of 100K manipulation-ready digital object twins with simulation-ready 3D meshes, physical properties, functional point annotations, grasp configurations, and language descriptions validated through physics-based simulation.

point_cloudlanguage
18K downloadsMar 2026apache-2.0

FastUMI Pro – Multimodal Sample Dataset

Small-scale demonstration data from the FastUMI Pro multimodal sensing system, containing dozens of sample trajectories with synchronized RGB images, point clouds, pose tracking, and haptic feedback. Full-scale datasets are available upon request.

rgbpoint_cloudproprioceptiontactile
5K downloadsMar 2026other

SandGO Dataset (v1.0)

A long-horizon multimodal dataset designed for embodied AI and robot learning, containing state-action sequences, multi-view RGB images, LiDAR point clouds, depth point clouds, and natural language instructions for training Vision-Language-Action models.

rgbdepthpoint_cloudproprioception+1
1K downloadsMar 2026apache-2.0

GrowSplat Dataset

A dataset containing multi-view images, segmentation masks, and point clouds of Quinoa and Sequoia plants collected at different growth stages using the Maxi-Marvin imaging system for 3D and temporal 4D plant modeling.

rgbsegmentationpoint_cloud
1K downloadsFeb 2026cc-by-4.0