| --- |
| 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](https://github.com/huggingface/lerobot). |
|
|
| <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=rainbowrobotics/box_tilting_all_v3"> |
| <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/> |
| <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/> |
| </a> |
|
|
| # 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 position |
| - `wx`, `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](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 |
|
|
