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UMI-3D Dataset (Cup)
This dataset contains demonstration data for the cup manipulation task in UMI-3D.
Description
The dataset includes:
- RGB observations
- End-effector trajectories
- Gripper states
- Action sequences
Format
dataset_cup_umi_3d.zarr.zip
Zarr structure contains:
camera0_rgbrobot0_eef_posrobot0_eef_rot_axis_anglerobot0_gripper_width
Usage
import zarr
data = zarr.open("dataset_cup_umi_3d.zarr.zip", mode='r')
Related
👉 Policy:
https://huggingface.co/ZIMBOT/umi-3d-policy-cup
👉 Project:
https://umi-3d.github.io/
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