---
license: mit
task_categories:
  - robotics
tags:
  - robomimic
  - oat
  - zarr
---

# RoboMimic OAT zarr (N=200 mh)

Training zarrs used for RoboMimic Lift / Can / Square OAT (Table P).

| Path | Source |
|------|--------|
| `lift_N200.zarr` | 200 demos from `lift_mh_image.hdf5` |
| `can_N200.zarr` | 200 demos from `can_mh_image.hdf5` |
| `square_N200.zarr` | 200 demos from `square_mh_image.hdf5` |

Policies/tokenizers: [`hackhackhack66666/robomimic-oattok-policy`](https://huggingface.co/hackhackhack66666/robomimic-oattok-policy).

Place under `data/robomimic/` as:
```
data/robomimic/lift_N200.zarr
data/robomimic/can_N200.zarr
data/robomimic/square_N200.zarr
```