Search is not available for this dataset
action list | observation.state list | observation.environment_state list | timestamp float32 0 71.5 ⌀ | frame_index int64 0 1.43k ⌀ | episode_index int64 0 2 ⌀ | index int64 0 1.48k ⌀ | task_index int64 0 0 ⌀ |
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End of preview. Expand in Data Studio
galbot-robolab-bimanual
Galbot One Golf solving RoboLab bimanual_v0_2 tasks in Isaac Lab, recorded as
scripted demonstrations and converted to LeRobot v3.0.
Each task is a separate LeRobot dataset in its own folder — load one by pointing
LeRobotDataset at that folder:
from lerobot.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("yizhouzhao-nv/galbot-robolab-bimanual", root="close_cabinet_k01_left_door")
They share action (16-d, dual-arm differential-IK pose + binary gripper),
observation.state (77-d joint positions) and three 480x640 cameras
(left_wrist, right_wrist, stage) at 20 fps. Each has its own
observation.environment_state, whose width and meaning depend on that task's
objects — which is why the tasks are kept as separate datasets rather than merged.
| folder | task | episodes | frames |
|---|---|---|---|
align_blocks_into_two_rows |
Make a red-blue row on the left and a parallel green-yellow row on the right | 1 | 760 |
build_two_color_matched_towers |
Stack blue on red on the left and yellow on green on the right | 1 | 760 |
bus_place_settings |
Put the dishes on the blue tray and the empty packages in the gray waste bin | 1 | 780 |
center_bowl_and_add_fruit |
Center the fruit bowl and put the apple, orange and lemon inside | 1 | 1430 |
close_cabinet_k01_left_door |
Close the left cabinet door | 3 | 1482 |
lift_wide_tray_to_serving_zone |
Lift the wide tray to the serving zone | 1 | 455 |
move_large_plate_to_serving_zone |
Move the large plate to the serving zone | 1 | 455 |
open_cabinet_k01_left_door |
Open the left cabinet door | 1 | 534 |
parallel_push_containers_to_marked_zones |
Push the two containers onto their marked zones | 1 | 435 |
rotate_wide_tray_for_serving |
Rotate the wide tray for serving | 1 | 455 |
unstack_two_towers_into_baskets |
Unstack the two towers and put the blocks into the baskets | 1 | 760 |
Demonstrations are scripted rather than teleoperated, and only successful episodes are kept — so every episode here is a success by the task's own criterion.
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