Datasets:
Trossen bin picking, simulated: extra objects
Room light, with three to five new objects on the table (stapler, pliers, lemon, baseball, oil can), placed clear of the arms' paths. One of seven datasets that replay the same recordings under different conditions; see trossen-bin-picking-sim-datasets for all of them, a preview and the limits.
Each episode replays one recording from Trossen Robotics' public bin_picking dataset on a simulated copy of its station. A bimanual WidowX AI picks up one of five objects (red cup, yellow duck, purple marker, screwdriver, roll of black tape) and puts it in a clear tray. The joint states, actions, timing and task text are the recording's, unchanged. The four camera videos are rendered.
Upload in progress: 51 of 94 episodes so far. More are added as they finish rendering.
51 episodes: 46 for training, then 5 held out for testing (splits in meta/info.json). meta/provenance.json gives each episode's source episode, object and outcome.
| Key | Shape | Content |
|---|---|---|
observation.images.camera_high |
480 x 640 x 3, 30 fps, AV1 | Overhead camera |
observation.images.camera_low |
480 x 640 x 3, 30 fps, AV1 | Low front camera |
observation.images.camera_left_wrist, observation.images.camera_right_wrist |
480 x 640 x 3, 30 fps, AV1 | Wrist cameras |
observation.state |
14 | Joint positions from the recording, left arm then right |
action |
14 | Joint targets from the recording |
LeRobot v3.0, the same format, keys and robot type (bi_widowxai_follower_robot) as the source.
Source and license
Derived from Trossen Robotics' public bin_picking dataset (s3://trossen-public-datasets-977e8d43bcff/bin_picking/), released under Apache-2.0. This dataset keeps that license. Made by Kite.
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