---
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.