robotics-diffusion-transformer/BimanualUR5eExample

Dataset Summary This dataset provides shards in the WebDataset format for fine-tuning RDT-2 or other policy models on bimanual manipulation. Each sample packs: a binocular RGB image (left + right wrist cameras concatenated horizontally) a relative action chunk (continuous control, 0.8s, 30Hz) a discrete action token sequence (e.g., from an Residual VQ action tokenizer) a metadata JSON with an instruction key sub_task_instruction_key to index corresponding instruction from… See the full description on the dataset page: https://huggingface.co/datasets/robotics-diffusion-transformer/BimanualUR5eExample.