README.md

metadata

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.