IPEC-COMMUNITY/utaustin_mutex_lerobot
Robotics Dataset
This dataset contains 1500 episodes of Franka robot manipulation tasks from the UT Austin Mutex dataset, featuring 50 tasks with natural language instructions, RGB and wrist camera observations, and state/action data.
Catalog metadata
- Repository owner
- IPEC-COMMUNITY
- Source
- Hugging Face / LeRobot
- Robot
- franka
- Episodes
- 1500
- Frames
- 361883
- Cameras
- 2
- Frames per second
- 20
- License
- apache-2.0
Example tasks
- Kindly spot and seek the red cup placed ahead of you. Cautiously adjust your gripper towards the red cup, gripping it gently. Find the after-storage area of the caddy. Relocate the red cup in your grip over the rear portion and softly release it into the compartment.
- Please move the gripper into proximity with the fryer handle. Once close enough, gingerly grasp the handle and gently tug the fryer basket open in your direction.
- Caressingly guide your clamp towards the toast. Compassionately possess the toast with your clamp. Gradually tag the toast up from the worktable. Complaisantly, cruise the held-toasty-pillow to your white crockery. Last but notably, liberate the toast onto the shiny white tableware.
- With care, position your gripper close to the oven tray handle. Make sure to grip the handle tightly. Delicately and attentively pull the tray out from the oven.
- Gently maneuver your gripper in the book's direction. Confidently hold the book by angling your gripper properly. Relocate the book to the caddy. Pinpoint the back pocket of the caddy and set the book down inside it.
- Kindly guide your pinchers towards the book laid out on the table. Ensure a firm grip on the book using your pinchers. Now, move both the pinchers and the book to the foremost compartment of the rack. Then, gently free the book into the leading segment of the rack.
- Extend the gripper towards the oven tray handle. Grasp the handle and carefully pull the tray out of the oven. Move the gripper above the red bowl. Grab the red bowl gently. Lift the bowl and place it onto the oven tray.
- Discover the targeted book and set your gripper to the appropriate amplitude. Smoothly guide your gripper in the direction of the book and snatch it firmly. Search for the back section of the caddy. Move the held book towards the back section and lightly deposit it inside.
- Kindly move the gripper close to the hot dog bowl. Grip the bowl lightly with the gripper, taking care not to crush the hot dogs. Elevate the bowl a little, ensuring it remains flat to stop hot dogs from tumbling. Transport the gripper and bowl to the white plate, then lower it down cautiously. Relinquish the gripper, letting the bowl rest on the plate.
- Gently grip the air fryer handle with your gripper and kindly pull it open by sliding your gripper away from the base. Gradually bring your gripper in line with the blue bowl and gently capture it, without tightening your grip too much. Securely place the blue bowl inside the opened air fryer with a steady position. Liberate your robot's gripper, and withdraw your gripper from the proximity of the air fryer.
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