kumagong

KAI0 TODO [ ] The advantage label will be coming soon. Contents About the Dataset Load the Dataset Download the Dataset Dataset Structure - Folder hierarchy - Details License and Citation About the Dataset **~134 hours** real world scenarios **Main Tasks** - ***Task_A*** - Single task - Initial state: T-shirts are randomly tossed onto the table, presenting random crumpled configurations - Manipulation task: Operate the robotic arm to unfold the garment, then fold it - ***Task_B*** - Garment classification and arrangement task - Initial state: Randomly pick a garment from the laundry basket - Classification: Determine whether the garment is a T-shirt or a dress shirt - Manipulation task: - If it is a T-shirt, fold the garment - If it is a dress shirt, expose the collar, then push it to one side of the table - ***Task_C*** - Single task - Initial state: Hanger is randomly placed, garment is randomly positioned on the table - Manipulation task: Operate the robotic arm to thread the hanger through the garment, then hang it on the rod **Count of the dataset** | Task | Base (episodes count/hours) | DAgger (episodes count/hours) | Total(episodes count/hours) | |------|-----------------------------|-------------------------------|-----------------------------| | Task_A | 3,055/~42 hours | 3,457/ ~13 Hours | 6,512 /~55 hours | | Task_B | 5988/~31 hours | 769/~22 hours | 6757/~53 hours | | Task_C | 6954/~61 hours | 686/~12 hours | 7640/~73 hours | | **Total** | **15,997/~134 hours** | **4,912/~47 hours** | **20,909/~181 hours** | Load the dataset This dataset was created using LeRobot The dataset's version is LeRobotDataset v2.1 For LeRobot version 0.1.0` and ` = 0.4.0 You need to migrate the dataset from v2.1 to v3.0 first. See the official documentation: Migrate the dataset from v2.1 to v3.0 Download the Dataset Python Script Terminal (CLI) Dataset Structure Folder hierarchy Under each task directory, data is partitioned into two subsets: base and dagger. base contains orig