Search is not available for this dataset
observation.state listlengths 14 14 | action listlengths 14 14 | timestamp float32 0 21.5 | frame_index int64 0 646 | episode_index int64 0 3k | index int64 0 1.48M | task_index int64 0 1.26k |
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End of preview. Expand in Data Studio
RoboTwin DK1 — Blocks & Bowls (stack & sort)
Combined LeRobot v3.0 dataset of six tabletop stacking / sorting tasks, generated in the RoboTwin simulator for the TRLC DK1 bimanual robot.
- Tasks (6):
blocks_ranking_rgb,blocks_ranking_size,stack_blocks_two,stack_blocks_three,stack_bowls_two,stack_bowls_three - Episodes: 3,000 (500 per task)
- Frames: 1,480,706 (~822 min @ 30 fps)
- Robot:
bi_dk1_follower(2× 6-DOF arms + parallel grippers), 14-D state/action - Cameras: head, left_wrist, right_wrist — 640×360, h264, 2 keyframes/sec
- Gripper convention: 0 = open, 1 = closed (home pose = all-zeros)
- Camera realism: rendered with simulated real-DK1 camera placement + lens distortion.
- Each episode carries a diverse natural-language instruction.
from lerobot.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("andreaskoepf/robotwin_dk1_blocks_bowls")
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