Apache 2.0
The publisher's licence permits commercial use and redistribution, with attribution. Card states: This dataset is released under the Apache 2.0 license.
hf download BAAI-Humanoid/DECO-50 --repo-type dataset --include task1/data-t1-1/* --local-dir ./DECO-50Public, no gate. About 1.61 TB in one tar.gz per episode (about 250 MB each) under task1 to task4; the command pulls one subtask. Episode count is the number of episode archives in the repo. Training code at github.com/BAAI-Humanoid/DECO.
Specification, as published
- Hours (stated)
- 50 h
- Episodes (stated)
- 8,092 episodes
- Scale
- 50 hours of teleoperated data across 4 scenarios and 28 subtasks, totaling over 5 million frames
- Task
- Pick & place, Sorting & packing, Assembly, Cleaning, Other
- Environment
- Indoor – lab
- Modality
- RGB, Stereo, Tactile, Proprioception, Actions
- Capture
- Egocentric
- In frame
- Robot hands
- Captured in
- Undisclosed
- Embodiment
- real dual-arm robot with dexterous hands and an active head (model not named on the card)
- Formats
- JPEG, NumPy, JSON, Pickle
- Size
- about 1.61 TB
- Hosted on
- Hugging Face
Figures are the publisher's own. Kinetic Blocks has not measured this dataset.
About this dataset
The dataset behind the DECO policy paper: teleoperated bimanual dexterous manipulation on real dual-arm robots with dexterous hands, an active head and tactile sensors on both end effectors. Four scenarios split into 28 subtasks: pick and place, material sorting, waste disposal and assembly, over 5 million frames in all. Each step stores a left and a right camera frame as JPEG, a tactile array per hand as NumPy, and arm, hand and head observations and actions; each episode ships as a tar.gz with its raw record and processed labels, and per-scenario normalisation statistics sit at the repo root. Footage is a frame sequence rather than an MP4.
Publisher's own task names: Pick and Place, Material Sorting, Waste Disposal, Assembly, 28 subtasks.
What Kinetic Blocks did, and did not do
Indexed and linked from the publisher. Not hosted, verified or graded by Kinetic Blocks. The publisher's terms govern. The licence shown is the one stated on the publisher's page, linked above. Nothing on this page is a claim by Kinetic Blocks.
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