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Datasets:
starism
/
xrlinf-hdf5

Tasks:
Robotics
Modalities:
Time-series
Size:
1M - 10M
Tags:
dexjoco
x-rlinf
hdf5
robot-learning
Libraries:
Datasets
License:
Dataset card Data Studio Files
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YAML Metadata Warning:The task_categories "imitation-learning" is not in the official list: text-classification, token-classification, table-question-answering, question-answering, zero-shot-classification, translation, summarization, feature-extraction, text-generation, fill-mask, sentence-similarity, text-to-speech, text-to-audio, automatic-speech-recognition, audio-to-audio, audio-classification, audio-text-to-text, voice-activity-detection, depth-estimation, image-classification, object-detection, image-segmentation, text-to-image, image-to-text, image-to-image, image-to-video, unconditional-image-generation, video-classification, reinforcement-learning, robotics, tabular-classification, tabular-regression, tabular-to-text, table-to-text, multiple-choice, text-ranking, text-retrieval, time-series-forecasting, text-to-video, image-text-to-text, image-text-to-image, image-text-to-video, visual-question-answering, document-question-answering, zero-shot-image-classification, graph-ml, mask-generation, zero-shot-object-detection, text-to-3d, image-to-3d, image-feature-extraction, video-text-to-text, keypoint-detection, visual-document-retrieval, any-to-any, video-to-video, other

DexJoCo HDF5 Dataset for X-RLinf

This dataset contains converted DexJoCo demonstrations prepared for X-RLinf SimVLA training.

Dataset variants

  • normal/: normally converted DexJoCo demonstrations
  • rand_full/: randomized full-scene DexJoCo demonstrations

HDF5 format

Each episode contains:

  • /actions: [T, 22]
  • /observations/qpos: [T, 23]
  • /observations/images/front: [T, H, W, 3]
  • /observations/images/wrist: [T, H, W, 3]

Tasks

  • bimanual_assembly
  • bimanual_hanoi
  • bimanual_microwave_cook
  • bimanual_photograph
  • bimanual_unlock_ipad
  • click_mouse
  • fold_glasses
  • hammer_nail
  • pick_bucket
  • pinch_tongs
  • water_plant

Please refer to the original DexJoCo dataset and repository for license, attribution, and usage restrictions.
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