---
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.