RoboSet
Description
RoboSet comprises 100,050 real-robot trajectories: a kitchen collection reporting 30,050 total trajectories, including 9,500 teleoperated demonstrations and additional kinesthetic-playback trajectories, plus 70,000 bin-manipulation trajectories collected through scripts and policies. The kitchen data cover 38 tasks and 12 skills. RoboAgent was trained on a frozen 7,500-trajectory teleoperation subset collected with Franka Emika arms and Robotiq grippers across varied kitchen scenes. The data cover picking, placing, wiping, capping, sliding, object reorientation, and articulated doors or drawers, while language conditioning and automatically generated semantic image augmentations support sample-efficient generalization to unseen objects, tasks, and kitchens.
License
MIT.*
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