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Datasets:
WorldAgents-c
/
MultiDojo2

Tasks:
Robotics
Languages:
English
Chinese
Size:
1K<n<10K
Tags:
robotics
multi-robot
manipulation
heterogeneous-robots
simulation
world-action-model
Dataset card Files
xet
 Community
1

Complete multi-robot training collection

#1
by WorldAgents-c - opened
base: refs/heads/main
←
from: refs/pr/1
Discussion Files changed
+165455
-9934
This view is limited to 50 files because it contains too many changes. See the raw diff here.
Files changed (50) hide show
  1. README.md +25 -25
  2. episodes/0000/render/camera-calibration.npz +3 -0
  3. episodes/0000/render/lmdb/data.mdb +3 -0
  4. episodes/0000/render/meta_info.pkl +3 -0
  5. episodes/0000/render/terminal_obs_camera.png +3 -0
  6. episodes/0000/render/terminal_obs_camera_2.png +3 -0
  7. episodes/0000/render/terminal_wrist_1.png +3 -0
  8. episodes/0000/render/terminal_wrist_2.png +3 -0
  9. episodes/0000/trajectory/trajectory.npz +3 -0
  10. episodes/0001/render/camera-calibration.npz +3 -0
  11. episodes/0001/render/lmdb/data.mdb +3 -0
  12. episodes/0001/render/meta_info.pkl +3 -0
  13. episodes/0001/render/terminal_obs_camera.png +3 -0
  14. episodes/0001/render/terminal_obs_camera_2.png +3 -0
  15. episodes/0001/render/terminal_wrist_1.png +3 -0
  16. episodes/0001/render/terminal_wrist_2.png +3 -0
  17. episodes/0001/trajectory/trajectory.npz +3 -0
  18. episodes/0002/render/camera-calibration.npz +3 -0
  19. episodes/0002/render/lmdb/data.mdb +3 -0
  20. episodes/0002/render/meta_info.pkl +3 -0
  21. episodes/0002/render/terminal_obs_camera.png +3 -0
  22. episodes/0002/render/terminal_obs_camera_2.png +3 -0
  23. episodes/0002/render/terminal_wrist_1.png +3 -0
  24. episodes/0002/render/terminal_wrist_2.png +3 -0
  25. episodes/0002/trajectory/trajectory.npz +3 -0
  26. episodes/0003/render/camera-calibration.npz +3 -0
  27. episodes/0003/render/lmdb/data.mdb +3 -0
  28. episodes/0003/render/meta_info.pkl +3 -0
  29. episodes/0003/render/terminal_obs_camera.png +3 -0
  30. episodes/0003/render/terminal_obs_camera_2.png +3 -0
  31. episodes/0003/render/terminal_wrist_1.png +3 -0
  32. episodes/0003/render/terminal_wrist_2.png +3 -0
  33. episodes/0003/trajectory/trajectory.npz +3 -0
  34. episodes/0006/render/camera-calibration.npz +3 -0
  35. episodes/0006/render/lmdb/data.mdb +3 -0
  36. episodes/0006/render/meta_info.pkl +3 -0
  37. episodes/0006/render/terminal_obs_camera.png +3 -0
  38. episodes/0006/render/terminal_obs_camera_2.png +3 -0
  39. episodes/0006/render/terminal_wrist_1.png +3 -0
  40. episodes/0006/render/terminal_wrist_2.png +3 -0
  41. episodes/0006/trajectory/trajectory.npz +3 -0
  42. episodes/0007/render/camera-calibration.npz +3 -0
  43. episodes/0007/render/lmdb/data.mdb +3 -0
  44. episodes/0007/render/meta_info.pkl +3 -0
  45. episodes/0007/render/terminal_obs_camera.png +3 -0
  46. episodes/0007/render/terminal_obs_camera_2.png +3 -0
  47. episodes/0007/render/terminal_wrist_1.png +3 -0
  48. episodes/0007/render/terminal_wrist_2.png +3 -0
  49. episodes/0007/trajectory/trajectory.npz +3 -0
  50. episodes/0008/render/camera-calibration.npz +3 -0
README.md CHANGED
@@ -4,7 +4,7 @@ language:
4
  - zh
5
  pretty_name: MultiDojo²
6
  size_categories:
7
- - 100K<n<1M
8
  task_categories:
9
  - robotics
10
  tags:
@@ -37,7 +37,7 @@ cd multidojo-data
37
  pip install -r requirements.txt
38
  ```
39
 
40
- The currently downloadable files total approximately **98.1 GiB**. Loading requires Python and the packages in requirements.txt; a simulator or GPU is unnecessary.
41
 
42
  ```python
43
  from loader import TrainingDataset
@@ -50,7 +50,7 @@ print(sample["robots"].keys())
50
  dataset.close()
51
  ```
52
 
53
- For a partial download, include loader.py, requirements.txt, and every file in each selected episode directory, then filter train.jsonl to those episodes. Paths are relative to the index file. Directory numbers preserve the collection's original numbering and are non-contiguous; **tasks.json maps every task to its episode directories and index rows**.
54
 
55
  ## Files
56
 
@@ -66,26 +66,26 @@ Actions are **absolute native joint-position commands**, with radians or metres
66
 
67
  | ID | Task | Demonstrations |
68
  | --- | --- | ---: |
69
- | 00 | Banana handover into a pan | 18 |
70
- | 01 | Banana and apple to plates | 18 |
71
- | 02 | Collaborative carton transport | 17 |
72
- | 03 | Two-stage cup relay | 16 |
73
- | 04 | Place and stack blocks | 18 |
74
- | 05 | Franka–Piper long-block handover | 21 |
75
- | 06 | Three-arm block relay | 11 |
76
- | 07 | Apples to baskets | 11 |
77
- | 08 | Four-arm block relay | 20 |
78
- | 09 | Ordered four-color stacking | 10 |
79
- | 10 | Cookies to boxes | 10 |
80
- | 11 | Household objects to boxes | 18 |
81
- | 12 | Eight-arm blocks to boxes | 14 |
82
- | 13 | Three-arm block relay | 17 |
83
- | 14 | Four-arm block relay | 14 |
84
- | 15 | Eight-arm blocks to boxes | 11 |
85
- | 16 | Three-arm banana relay | 14 |
86
- | 17 | Three-arm white-cup relay | 11 |
87
- | 18 | Four-arm banana relay | 20 |
88
- | 19 | Four-arm white-cup relay | 12 |
89
 
90
  ## Attribution
91
 
@@ -95,6 +95,6 @@ These are simulation recordings. Simulator executables and source robot/object a
95
 
96
  MultiDojo² 数据集包含 **2,000+ 条训练轨迹、20+ 类多机器人协作任务**，覆盖同构与异构的双臂、三臂、四臂和八臂组合。训练数据在本仓库持续开放。
97
 
98
- 每条轨迹同步保存**每个机械臂的第一视角、第三视角、状态与动作，以及相机标定**；多工位任务还包含工位视角。RGB 保持原始 640×480、30 Hz。当前可下载文件约 **98.1 GiB**。
99
 
100
- 使用 train.jsonl 加载，tasks.json 提供每类任务对应的目录和索引行。目录编号沿用原始编号，因此不连续。安装 requirements.txt 后可使用 loader.py 读取。状态动作的单位、同步关系和仿真建模说明见 FORMAT.md。
 
4
  - zh
5
  pretty_name: MultiDojo²
6
  size_categories:
7
+ - 1K<n<10K
8
  task_categories:
9
  - robotics
10
  tags:
 
37
  pip install -r requirements.txt
38
  ```
39
 
40
+ The currently downloadable files total approximately **671.6 GiB**. Loading requires Python and the packages in requirements.txt; a simulator or GPU is unnecessary.
41
 
42
  ```python
43
  from loader import TrainingDataset
 
50
  dataset.close()
51
  ```
52
 
53
+ For a partial download, include loader.py, requirements.txt, and every file in each selected episode directory, then filter train.jsonl to those episodes. Paths are relative to the index file. Directory numbers preserve the collection's original numbering; **tasks.json maps every task to its episode directories and index rows**.
54
 
55
  ## Files
56
 
 
66
 
67
  | ID | Task | Demonstrations |
68
  | --- | --- | ---: |
69
+ | 00 | Banana handover into a pan | 100 |
70
+ | 01 | Banana and apple to plates | 100 |
71
+ | 02 | Collaborative carton transport | 100 |
72
+ | 03 | Two-stage cup relay | 100 |
73
+ | 04 | Place and stack blocks | 100 |
74
+ | 05 | Franka–Piper long-block handover | 100 |
75
+ | 06 | Three-arm block relay | 100 |
76
+ | 07 | Apples to baskets | 100 |
77
+ | 08 | Four-arm block relay | 100 |
78
+ | 09 | Ordered four-color stacking | 100 |
79
+ | 10 | Cookies to boxes | 100 |
80
+ | 11 | Household objects to boxes | 100 |
81
+ | 12 | Eight-arm blocks to boxes | 100 |
82
+ | 13 | Three-arm block relay | 100 |
83
+ | 14 | Four-arm block relay | 100 |
84
+ | 15 | Eight-arm blocks to boxes | 100 |
85
+ | 16 | Three-arm banana relay | 100 |
86
+ | 17 | Three-arm white-cup relay | 100 |
87
+ | 18 | Four-arm banana relay | 100 |
88
+ | 19 | Four-arm white-cup relay | 100 |
89
 
90
  ## Attribution
91
 
 
95
 
96
  MultiDojo² 数据集包含 **2,000+ 条训练轨迹、20+ 类多机器人协作任务**，覆盖同构与异构的双臂、三臂、四臂和八臂组合。训练数据在本仓库持续开放。
97
 
98
+ 每条轨迹同步保存**每个机械臂的第一视角、第三视角、状态与动作，以及相机标定**；多工位任务还包含工位视角。RGB 保持原始 640×480、30 Hz。当前可下载文件约 **671.6 GiB**。
99
 
100
+ 使用 train.jsonl 加载，tasks.json 提供每类任务对应的目录和索引行。目录编号沿用原始编号。安装 requirements.txt 后可使用 loader.py 读取。状态动作的单位、同步关系和仿真建模说明见 FORMAT.md。
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Git LFS Details

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