RoboBrain-X0
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RoboBrain-X-Dataset
The RoboBrain-X Dataset is a comprehensive embodied robotics dataset featuring two dual-arm robots, Agilex and R1lite, across diverse scenarios with detailed annotations.
Get started 🔥
Download the Dataset
To download the full dataset, you can use the following code. If you encounter any issues, please refer to the official Hugging Face documentation.
# Make sure you have git-lfs installed (https://git-lfs.com)
git lfs install
# When prompted for a password, use an access token with write permissions.
# Generate one from your settings: https://huggingface.co/settings/tokens
git clone https://huggingface.co/datasets/BAAI/RoboBrain-X-Dataset
Dataset Structure
Folder hierarchy
data
├── RoboBrain_Robotic_AGXCompany
│ ├── annotation
│ │ ├── train.json
│ │ ├── ...
│ ├── video
│ │ ├── 0
│ │ ├── 1
│ │ ├── ...
├── ...
├── agilex_company_annotations
│ │ ├── agilex_company_annotations.json
│ │ ├── ...
The total trajetory of annotations are in train.json'' and the details of subtask annotations can be found in agilex_company_annotations.json''.
train.json
[
"Pick up the beef on the table": [
{
"raw_task": "Put_the_two_slices_of_bread_and_the_beef_patty_together_on_the_table_to_make_a_hamburger",
"task": "Pick up the beef on the table",
"frame": {
"all": 573,
"start_frame": 51,
"end_frame": 115
},
"data": {
"high": "./RoboBrain_Robotic_AGX/videos/train/2773/2773_cam_high.mp4",
"left": "./RoboBrain_Robotic_AGX/videos/train/2773/2773_cam_left_wrist.mp4",
"right": "./RoboBrain_Robotic_AGX/videos/train/2773/2773_cam_right_wrist.mp4",
"state": "./RoboBrain_Robotic_AGX/videos/train/2773/2773.hdf5"
}
},
...
]
key format of features in hdf5 files
|-- qpos (N * 14) (6DoF Right Joint+ Right Gripper (0 for close) + 6DoF Left Joint + Left Gripper (0 for close))
|-- action (N * 14) (Right EEPose (xyz, rpy)+ Right Gripper (0 for close) + Leftt EEPose (xyz, rpy) + Left Gripper (0 for close))
📅 TODO List
- RoboBrain-X-Dataset: ~50,000 simulation demonstrations with rich human annotations.
- Data process for training format: data processing scripts for transfering raw data into FlagScale training data.
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