Frame from the RoboSet dataset, Meta AI and Carnegie Mellon University, MIT.
MIT
The publisher's licence permits commercial use and redistribution, with attribution.
wget http://dl.fbaipublicfiles.com/RoboSet/TeleoperationSet/Activities/baking_prep/baking_prep_slide_open_drawer_scene_1.tar.gzOne tar.gz per activity, task and scene under dl.fbaipublicfiles.com/RoboSet/TeleoperationSet/Activities/. Kinesthetic and autonomous subsets have their own pages. Hub mirror covers teleop only (425 GB, about 31k rows). Whether the wrist camera is one of the four views was not confirmed; camera_mode includes Wrist camera provisionally.
Specification, as published
- Episodes (stated)
- 28,500 episodes
- Scale
- Overall we have 28,500 trajectories in the dataset, out of which 9,500 are collected through teleoperation, and 19,000 are collected through kinesthetic playback.
- Task
- Cooking & food prep, Cleaning, Tidying & put-away, Pick & place, Other
- Environment
- Indoor – home, Indoor – lab
- Modality
- RGB, Proprioception, Actions
- Capture
- CCTV Scene
- In frame
- Robot hands
- Captured in
- North America
- Embodiment
- Franka Emika Panda with Robotiq 2F-85 gripper
- Formats
- HDF5
- Size
- 425 GB (teleoperation subset on Hub)
- Hosted on
- dl.fbaipublicfiles.com
Figures are the publisher's own. Kinetic Blocks has not measured this dataset.
About this dataset
RoboSet is the real-robot dataset behind RoboAgent, collected on a Franka Emika Panda with a Robotiq 2F-85 gripper in several kitchen setups. Trajectories are grouped into household activities such as baking prep, making tea, heating soup and cleaning the kitchen, each composed of 4 to 6 tasks, with 250 demonstrations per task-scene pair in the teleoperated subset. Every frame has four camera views. Files are HDF5 tarballs served from Meta's public file host, with a 425 GB teleoperation copy on the Hugging Face Hub.
Publisher's own task names: Baking Prep, Clean Kitchen, Heat Soup, Make Tea, Make Toast, Serve Soup, Stow Bowl, slide open drawer, pick place butter, open close oven, plunge toaster, wipe towel.
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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