datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
rby1-fold-v1.1
rby1-fold-v1.1
Rainbow Robotics RB-Y1 T-shirt folding — DAgger correction set (2026-06-29) with per-frame advantage labels, LeRobot v3.0. Human-in-the-loop intervention rollouts collected on top of the rby1-fold-v1.0 policy, then hand-edited and recovered.
40 episodes / 81,813 frames @ 30 fps (~45.5 min)
task (single, per-frame task_index): fold the t-shirt (0)
cameras: cam_high, cam_left_wrist, cam_right_wrist (480×640, AV1)
state / action: 26-dim — torso(6) + right_arm(7) +… See the full description on the dataset page: https://huggingface.co/datasets/RB3159/rby1-fold-v1.1.rby1-fold-v1.0
rby1-fold-v1.0
Rainbow Robotics RB-Y1 T-shirt folding — master curated dataset (cleaned), LeRobot v3.0. Every hand-reviewed fold demonstration (real teleoperation + DAgger) merged into one, then de-fragmented and de-duplicated.
126 episodes / 410,325 frames @ 30 fps (~227.9 min)
tasks (per-frame task_index): flatten the t-shirt (0) → fold the t-shirt (1) → stack the t-shirt (2)
cameras: cam_high, cam_left_wrist, cam_right_wrist (480×640, AV1)
state / action: 26-dim — torso(6) +… See the full description on the dataset page: https://huggingface.co/datasets/RB3159/rby1-fold-v1.0.RB-Y1_WujiHand2_teleop_ego_exo_100_pointtracks
RB-Y1 + WujiHand2 — ego+exo 3D robot & hand point tracks
3D point tracks for 100 teleop episodes of RB-Y1 with WujiHand2 dexterous hands, ego (ZED-M) + exo (ZED 2i) views. Resampled to 15 Hz (22758 frames).
Per episode (episode_XXX/)
file
contents
robot.npz
arm points (T,512,3), robot base frame
hand.npz
WujiHand2 hand points (T,256,3), robot base frame
ego.mp4,exo.mp4
the two views, 15 fps, intra-only (-g 1)
action.parquet
actions @15 Hz… See the full description on the dataset page: https://huggingface.co/datasets/rooty2020/RB-Y1_WujiHand2_teleop_ego_exo_100_pointtracks.