flex-pi/self_repair_gripper_dagger

Robotics Dataset

This dataset contains real-robot bimanual manipulation data from a YAM arm pair performing a self-repair task (gripper insertion, screw tightening, and cleanup), collected via DAgger with operator corrections, and stored in LeRobot v2.1 format with synchronized RGB and depth from three cameras.

Catalog metadata

Repository owner: flex-pi
Source: Hugging Face / LeRobot
Robot: yam
Episodes: 2154
Frames: 609385
Cameras: 3
Frames per second: 30
License: cc-by-4.0

Example tasks

Pick up the gripper from the table and insert it into the empty holder that is missing its gripper. Then pick up a screw, insert it into the mounting hole, and use the screwdriver to tighten it. Finally, clean up the table by picking up the vegetable and placing it into the bucket.

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