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Episodes Preview A3_dual_arm Visualizer Open in visualizer

845 episodes · 20 fps · 3 cameras · 256×256 av1

A3 Cookie Multi-Tasks Demonstration Dataset (`Eter0109/a3-cookie-multi-tasks`)

LeRobot v3 multi-task expert demonstration dataset for the A3 dual-arm MuJoCo cookie transfer benchmark (2x5 and 2x10 tasks).

Dataset Summary

Total Episodes: 845 (749 episodes of 2x5 + 96 episodes of 2x10)
Total Frames: 459,177 (355,344 frames of 2x5 + 103,833 frames of 2x10)
State / Action Contract: 8-D left-arm joint positions (L_q1..L_q7, L_gripper, state_dim=8, action_dim=8)
Camera Views: observation.images.front, observation.images.left_wrist, observation.images.right_wrist (256x256 RGB video)
Placement Order: canonical ((0, 1) target column order)
Completion Contract: complete_demonstrations=true (all episodes include full release, retract, and stability verification; zero overlap with evaluation seeds 13000..13009)

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