Datasets:
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- lerobot
- robotics
- imitation-learning
- bimanual
- end-effector-control
configs:
- config_name: default
data_files: data/*/*.parquet
This dataset was created using LeRobot.
RB-Y1 Box Tilting Dataset
A bimanual robot manipulation dataset collected using the Rainbow Robotics RB-Y1.
The robot rotates a box 90 degrees upward using both arms.
Dataset Summary
- Robot: Rainbow Robotics RB-Y1
- LeRobot format: v3.0
- Episodes: 88
- Frames: 51,827
- Frequency: 30 FPS
- Duration: approximately 28 minutes and 48 seconds
- Number of tasks: 1
- Camera: Front RGB camera
- Image resolution: 640 x 480
- Task instruction:
Rotate the box 90 degrees upward
Action Representation
The action contains absolute end-effector poses for both robot arms.
Each arm is represented using:
[x, y, z, wx, wy, wz]
x,y,z: Cartesian end-effector positionwx,wy,wz: rotation vector representation- Right arm: 6 dimensions
- Left arm: 6 dimensions
- Total action dimension: 12
The rotation vector direction represents the rotation axis, and its magnitude represents the rotation angle in radians.
Observation Representation
The observation contains:
- Front RGB camera image
- Right arm joint positions
- Left arm joint positions
- Right end-effector pose
- Left end-effector pose
The robot state contains 26 dimensions:
- Right arm joints: 7
- Left arm joints: 7
- Right end-effector pose: 6
- Left end-effector pose: 6
Dataset Structure
The dataset follows the LeRobotDataset v3.0 structure.
meta/
data/
videos/
Metadata describing the dataset and its features is available in meta/info.json.
Frame-level observations and actions are stored as Parquet files.
Camera observations are stored as MP4 video files.
Intended Use
This dataset is intended for research involving:
- Imitation learning
- Vision-based robot manipulation
- Bimanual manipulation
- End-effector pose control
- Action chunking policies
- Vision-Language-Action models
License
Apache License 2.0