metadata
license: apache-2.0
task_categories:
- robotics
language:
- en
tags:
- lerobot
- dreamzero
- bimanual
- ur3
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
BIMANUAL_DATA_ROOT=D:\SKOLTECH\THESIS\dreamzero\bimanual_data_gear bash scripts/train/bimanual_ur3_training.sh