Scripted-expert demonstrations for human-robot collaborative manipulation in
the Genesis simulator. This
release contains exactly 300 validated successful episodes for each of 19
tasks: 5,700 episodes and 1,517,474 policy steps in total.
The robot is a single-arm Franka. Observations include head-camera and
right-wrist RGB-D streams, robot state, end-effector pose, and gripper state.
Actions include absolute joint targets, joint deltas… See the full description on the dataset page:
https://huggingface.co/datasets/zhouqh/hr_v2.
