| --- |
| 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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|
