dreamzero
DreamZero-DROID-Datadreamzero-egoverse-360-pretraindreamzero-egoverse-rawdreamzero-franka-pnp
DreamZero Franka Pick-and-Place
This dataset contains real-world Franka Panda pick-and-place demonstrations used for DreamZero supervised fine-tuning and real-world deployment in RLinf.
Dataset Summary
Format: LeRobot v2.1
Robot: Franka Panda
Task: Pick up the object and put it into another bin
Episodes: 140
Frames: 9,685
FPS: 10
Videos: 280
Image streams: observation.images.image, observation.images.wrist_image
Image size: 128 x 128 RGB
State: float32, shape… See the full description on the dataset page: https://huggingface.co/datasets/RLinf/dreamzero-franka-pnp.bimanual-ur3-dreamzero
Bimanual UR3 Dataset (DreamZero / LeRobot v2)
Dual UR3 arms with Robotiq 2F-85 grippers, three RGB cameras (main + left/right wrist).
Prepared for DreamZero embodiment fine-tuning.
Stats
Episodes: 106
FPS: 30.0
State/action dim: 14 (6+1 per arm)
Embodiment tag: bimanual_ur3
Layout
data/chunk-000/episode_XXXXXX.parquet
videos/chunk-000/observation.images.*/episode_XXXXXX.mp4
meta/modality.json, stats.json, ...
Training… See the full description on the dataset page: https://huggingface.co/datasets/JeffrinSam/bimanual-ur3-dreamzero.bimanual-ur3-dreamzero-v2
Bimanual UR3 Dataset for DreamZero (v2)
LeRobot v2.1 + GEAR metadata for DreamZero embodiment fine-tuning.
v2 changelog (use this version)
Fixed actions: action = observation.state (original logs had zero actions)
Task prompt: pick_up_greenball_using_rightarm_and_pass_it_to_rightarm
106 episodes, 43,417 frames, 30 FPS
3 cameras: main (1280x720), left_wrist, right_wrist (640x480)
14-D bimanual state/action (6 joint + 1 gripper per arm)
Layout… See the full description on the dataset page: https://huggingface.co/datasets/JeffrinSam/bimanual-ur3-dreamzero-v2.