---
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](https://github.com/NVIDIA/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

```bash
BIMANUAL_DATA_ROOT=D:\SKOLTECH\THESIS\dreamzero\bimanual_data_gear bash scripts/train/bimanual_ur3_training.sh
```