Datasets:
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action listlengths 12 12 ⌀ | observation.state listlengths 26 26 ⌀ | timestamp float32 0 33.4 ⌀ | frame_index int64 0 1k ⌀ | episode_index int64 0 67 ⌀ | index int64 0 41.7k ⌀ | task_index int64 0 0 ⌀ |
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End of preview. Expand in Data Studio
RB-Y1 Box Tilting Dataset
This dataset contains bimanual box-tilting demonstrations collected using the Rainbow Robotics RB-Y1 robot.
Dataset Summary
- Robot: RB-Y1
- Number of episodes: 68
- Number of frames: 41,675
- Frequency: 30 FPS
- Number of tasks: 1
- Camera: Front RGB camera
- Image resolution: 640 × 480
Observations
The dataset contains:
- 14-dimensional bilateral arm joint positions
- 12-dimensional bilateral end-effector poses
- Front RGB images
The state vector contains 26 values in total.
Actions
Actions are 12-dimensional absolute end-effector poses:
- Right arm: x, y, z, wx, wy, wz
- Left arm: x, y, z, wx, wy, wz
Curation
This dataset was created by merging:
rainbowrobotics/box_tilting_1rainbowrobotics/box_tilting_2rainbowrobotics/box_tilting_3rainbowrobotics/box_tilting_4
Episode 0 was removed from box_tilting_1 before merging.
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