This is the official dataset used to train general robot manipulation agents with multimodal prompts, as presented in paper. It contains 650K trajectories for 13 tasks in VIMA-Bench. All demonstrations are generated by oracles.
Dataset Structure
Data are grouped into different tasks. Within each trajectory's folder, there are two folders rgb_front and rgb_top, and three files obs.pkl, action.pkl, and trajectory.pkl.… See the full description on the dataset page: https://huggingface.co/datasets/VIMA/VIMA-Data.
