Datasets:
Search is not available for this dataset
action list | observation.state list | timestamp float32 0 23.9 | frame_index int64 0 718 | episode_index int64 0 49 | index int64 0 19.8k | task_index int64 0 0 |
|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
DK1 Bimanual: orange cubes → box
LeRobot v3.0 dataset for the DK1 bimanual YAM platform performing the task:
place the orange cube on the left into the box, and then place the orange cube on the right into the box.
Splits
| Split | Episodes | Frames | Folder |
|---|---|---|---|
| train | 50 | 19,814 | train/ |
| val | 10 | 4,195 | val/ |
Each split is a self-contained LeRobot dataset (with its own meta/, data/, and videos/).
Modalities
- action / observation.state: 14-D joint positions (7 left + 7 right; gripper as joint 7 on each arm)
- observation.images.head: head-mounted RGB video
- observation.images.left_wrist: left wrist RGB video
- observation.images.right_wrist: right wrist RGB video
- fps: 30
Usage
from lerobot.datasets.lerobot_dataset import LeRobotDataset
ds_train = LeRobotDataset(
repo_id="callum-sh/dk1_bimanual_orange_cubes_to_box",
root="train",
)
ds_val = LeRobotDataset(
repo_id="callum-sh/dk1_bimanual_orange_cubes_to_box",
root="val",
)
Collected 2026-05-19 for the MolmoAct2 bimanual finetune experiment.
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