griffinlabs/AgiBot-World-Beta-no-torso-movement

Dataset taken from BAAI-DataCube/agibot-lerobot-v30-217-task-collection, in LeRobot Datasets v3.0 format.

Fisheye video features are dropped so there are only head, left hand, and right hand videos left.

Task inclusion

We focus on tasks that mostly only involve arm, gripper, and chassis movement, i.e. excluding tasks that involve waist and head movement.

For each task, we used simple heuristic criteria based on episode-level action stats to estimate the percentage of episodes that involve waist or head movement. Tasks with >= 5% of such episodes were excluded.

Dirty episodes

Some episodes contain videos that may not load successfully. To document this so that those episodes may be skipped during training, we added a meta/removed_episodes.json file to each affected subset's directory.

In the JSON file, only the "total_dirty_episodes" and "dirty_episodes" fields are relevant, the other fields are old unused fields that may or may not be accurate anymore.