| --- |
| pretty_name: DOMINO Extended Online-Follow |
| language: |
| - en |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - robotics |
| - embodied-ai |
| - dynamic-manipulation |
| - vision-language-action |
| - domino |
| - aloha |
| - video |
| --- |
| |
| # DOMINO Extended: Online-Follow |
|
|
| This repository contains online-follow demonstrations for multiple robot tasks. |
| Because every entry uses the same follow-style collector, the data hierarchy only |
| distinguishes **task** and **scene**. |
|
|
| Current data: **1 task/scene entries, 50 episodes**. |
|
|
| | Task | Scene | Episodes | Speed (m/s) | Details | |
| |---|---|---:|---:|---| |
| | `adjust_bottle` | `dynamic-clean` | 50 | 0.040--0.117 | [metadata](./metadata/adjust_bottle_dynamic-clean.json) | |
|
|
| ## Layout |
|
|
| ```text |
| dataset/<task>/<embodiment>_<scene>_<episodes>.zip |
| metadata/<task>_<scene>.json |
| provenance/<task>_<scene>/ |
| catalog.json |
| ``` |
|
|
| ## Download the current entry |
|
|
| ```bash |
| hf download HanningHanning/DOMINO-Extended dataset/adjust_bottle/aloha-agilex_dynamic-clean_50.zip --repo-type dataset --local-dir DOMINO-Extended |
| ``` |
|
|
| The bottle starts outside the camera view and moves independently. The expert |
| observes it online, approaches, follows, grasps, lifts, and completes the original |
| upright placement task without access to a future object trajectory or a precomputed |
| interception point. Raw HDF5 archives are canonical; converted LeRobot copies and |
| runtime caches are excluded. |
|
|
| ## License and attribution |
|
|
| Released under Apache-2.0, following the upstream DOMINO repository and dataset. |
| See each metadata file for its integrity checks and provenance snapshot. |
|
|
