---
license: other
license_name: mixed-upstream-licenses
license_link: LICENSE
task_categories:
- robotics
---

# 3DWay Dataset

This repository contains the training data for **3DWay: Generalizing Robot Manipulation via 3D Consistent Waypoints**.

**Paper:** [3DWay: Generalizing Robot Manipulation via 3D Consistent Waypoints](https://huggingface.co/papers/2609.08224)  
**Code:** [github.com/ziqin-h/3DWay](https://github.com/ziqin-h/3DWay)

## Contents

The dataset is built from three robotics datasets:

```text
droid.json
droid.tar

rh20t.json
rh20t.tar

rlbench.json
rlbench.tar
```

Each `.json` file contains the corresponding training annotations, while each `.tar` archive contains the associated image data.

## Extraction

The image archives can be extracted directly with `tar`:

```bash
tar -xvf droid.tar
tar -xvf rh20t.tar
tar -xvf rlbench.tar
```

## Project Page

https://ziqin-h.github.io/3DWay/

## Citation

```bibtex
@inproceedings{3dway2026,
  title     = {3DWay: Generalizing Robot Manipulation via 3D Consistent Waypoints},
  author    = {Huang, Ziqin and Li, Yingyue and Zhang, Chenyangguang and Zhang, Ruida and Chen, Yuxin and Wang, Gu and Liu, Xingyu and Tomizuka, Masayoshi and Ji, Xiangyang},
  booktitle = {European Conference on Computer Vision (ECCV)},
  year      = {2026}
}
```

## License

This repository contains data derived from multiple upstream datasets and is released under **mixed upstream licenses**. Please refer to the `LICENSE` file for details.