# RoboSet - Franka Kitchen Human Datasets

Here we release a collection of datasets of the Franka Kitchen environments. 
- `human_demos_playdata/` contains datasets adapted from the [Relay](https://github.com/google-research/relay-policy-learning) project. For each demonstration, the robot executes four of the kitchen tasks sequentially. 
-  `human_demos_by_task/` contains datasets grouped by tasks. This dataset is collected via VR teleoperation through [Puppet](https://github.com/vikashplus/puppet).

All datasets are in RoboSet's standard format.