moyoyiya/dagdiff-dataset
This is the dataset used in the paper, "DAGDiff: Guiding Dual-Arm Grasp Diffusion to Stable and Collision-Free Grasps". [Project Page] [arXiv] [Github] 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… See the full description on the dataset page: https://huggingface.co/datasets/moyoyiya/dagdiff-dataset.
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},
}