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dataset_info:
features:
- name: observation.images.head_rgb_image
dtype: video
- name: observation.images.hand_rgb_image
dtype: video
- name: observation.images.hand_depth_image
dtype: video
- name: observation.state
dtype: sequence
- name: action
dtype: sequence
splits:
- name: train
num_examples: 80
license: other
task_categories:
- robotics
tags:
- robotics
- imitation-learning
- vision-language-action
- hsr
- mujoco
- lerobot
---
# HSR Tomato Can Box RandomRect RealMatch Mix80
This dataset is a LeRobot-style HSR mobile-manipulation dataset used by the
Evo-Mibo demo training code.
It contains 80 demonstrations for the tomato-can-box task with:
- head RGB video
- hand RGB video
- hand inverse-depth video
- 15D robot state
- compact 2D scene slots, forming a 27D state vector
- 9D action
- language instruction
The task instruction is:
```text
Pick up the can and move it to the box.
```
The matching code and training scripts are expected to use:
```text
dataset/config_demo_hsr_tomato_randomrect_realmatch_mix80_state27.yaml
```
Example download:
```bash
hf download Maxmibo/HSR-TomatoCanBoxRandomRectRealMatchMix80 \
--repo-type dataset \
--local-dir data/HSR_TomatoCanBoxRandomRectRealMatchMix80_RGB15_HandInvDepth005to200_State27_BinaryGripper025_InitialScene_20260621_20260720_lerobot_v21
```
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