Datasets:
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pretty_name: RB-Y1 Box Tilting
tags:
- LeRobot
- robotics
- imitation-learning
- rby1
- bimanual
- end-effector-control
task_categories:
- robotics
---
# RB-Y1 Box Tilting Dataset
This dataset contains bimanual box-tilting demonstrations collected using the Rainbow Robotics RB-Y1 robot.
## Dataset Summary
- Robot: RB-Y1
- Number of episodes: 68
- Number of frames: 41,675
- Frequency: 30 FPS
- Number of tasks: 1
- Camera: Front RGB camera
- Image resolution: 640 × 480
## Observations
The dataset contains:
- 14-dimensional bilateral arm joint positions
- 12-dimensional bilateral end-effector poses
- Front RGB images
The state vector contains 26 values in total.
## Actions
Actions are 12-dimensional absolute end-effector poses:
- Right arm: x, y, z, wx, wy, wz
- Left arm: x, y, z, wx, wy, wz
## Curation
This dataset was created by merging:
- `rainbowrobotics/box_tilting_1`
- `rainbowrobotics/box_tilting_2`
- `rainbowrobotics/box_tilting_3`
- `rainbowrobotics/box_tilting_4`
Episode 0 was removed from `box_tilting_1` before merging.
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