rainbowrobotics/box_tiliting_20260820_003409

This dataset was created using LeRobot.

RB-Y1 Box Tilting Dataset

A bimanual manipulation demonstration dataset collected using the Rainbow Robotics RB-Y1.

The robot rotates a box 90 degrees upward using both arms.

Dataset Summary

• Robot: Rainbow Robotics RB-Y1
• Task instruction: Rotate the box 90 degrees upward
• Format: LeRobotDataset v3.0
• Control: Bimanual end-effector pose control
• Modality: RGB video and robot state

Dataset statistics and detailed feature definitions are available in meta/info.json.

Action Representation

The action contains absolute end-effector poses for both robot arms.

Each arm is represented as [x, y, z, wx, wy, wz]:

• x, y, z: Cartesian end-effector position
• wx, wy, wz: Rotation vector representation
• Right arm: 6 dimensions
• Left arm: 6 dimensions
• Total action dimension: 12

The direction of the rotation vector represents the rotation axis, and its magnitude represents the rotation angle in radians.

Observation Representation

The observation contains:

• Front RGB camera image
• Right and left arm joint positions
• Right and left end-effector poses

Dataset Structure

The dataset follows the LeRobotDataset v3.0 structure:

meta/
data/
videos/

Frame-level observations and actions are stored as Parquet files, while camera observations are stored as MP4 video files.

Intended Use

This dataset is intended for research involving:

• Imitation learning
• Vision-based robot manipulation
• Bimanual manipulation
• End-effector pose control
• Action chunking policies
• Vision-Language-Action models

License

Apache License 2.0