Hugging Face's logo

Datasets:
H-EmbodVis
/
DOMINO

Tasks:
Robotics
Languages:
English
Size:
100K<n<1M
ArXiv:
Tags:
robotics
embodied-ai
dynamic-manipulation
vision-language-action
manipulation
trajectory
License:
Dataset card Files
xet
 Community
HENGFANG commited on
Commit
5fc5402
·
verified ·
1 Parent(s): 18c6747

Add files using upload-large-folder tool

Browse files
Files changed (50) hide show
  1. README.md +68 -3
  2. dataset/press_stapler/ARX-X5_randomized_level3_200.zip +3 -0
  3. dataset/press_stapler/aloha-agilex_randomized_level1_200.zip +3 -0
  4. dataset/press_stapler/aloha-agilex_randomized_level2_200.zip +3 -0
  5. dataset/press_stapler/aloha-agilex_randomized_level3_200.zip +3 -0
  6. dataset/press_stapler/franka-panda_clean_level3_50.zip +3 -0
  7. dataset/press_stapler/franka-panda_randomized_level2_200.zip +3 -0
  8. dataset/press_stapler/franka-panda_randomized_level3_200.zip +3 -0
  9. dataset/press_stapler/piper_clean_level3_50.zip +3 -0
  10. dataset/press_stapler/piper_randomized_level2_200.zip +3 -0
  11. dataset/press_stapler/ur5-wsg_clean_level2_50.zip +3 -0
  12. dataset/press_stapler/ur5-wsg_randomized_level1_200.zip +3 -0
  13. dataset/press_stapler/ur5-wsg_randomized_level2_200.zip +3 -0
  14. dataset/put_object_cabinet/aloha-agilex_clean_level1_50.zip +3 -0
  15. dataset/put_object_cabinet/aloha-agilex_clean_level2_50.zip +3 -0
  16. dataset/put_object_cabinet/aloha-agilex_clean_level3_50.zip +3 -0
  17. dataset/put_object_cabinet/aloha-agilex_randomized_level1_200.zip +3 -0
  18. dataset/put_object_cabinet/aloha-agilex_randomized_level2_200.zip +3 -0
  19. dataset/put_object_cabinet/aloha-agilex_randomized_level3_200.zip +3 -0
  20. dataset/put_object_cabinet/franka-panda_clean_level1_50.zip +3 -0
  21. dataset/put_object_cabinet/franka-panda_clean_level2_50.zip +3 -0
  22. dataset/put_object_cabinet/franka-panda_clean_level3_50.zip +3 -0
  23. dataset/put_object_cabinet/franka-panda_randomized_level1_200.zip +3 -0
  24. dataset/put_object_cabinet/franka-panda_randomized_level2_200.zip +3 -0
  25. dataset/put_object_cabinet/franka-panda_randomized_level3_200.zip +3 -0
  26. dataset/rotate_qrcode/ARX-X5_clean_level1_50.zip +3 -0
  27. dataset/rotate_qrcode/ARX-X5_clean_level2_50.zip +3 -0
  28. dataset/rotate_qrcode/ARX-X5_clean_level3_50.zip +3 -0
  29. dataset/rotate_qrcode/ARX-X5_randomized_level1_200.zip +3 -0
  30. dataset/rotate_qrcode/ARX-X5_randomized_level2_200.zip +3 -0
  31. dataset/rotate_qrcode/ARX-X5_randomized_level3_200.zip +3 -0
  32. dataset/rotate_qrcode/aloha-agilex_clean_level1_50.zip +3 -0
  33. dataset/rotate_qrcode/aloha-agilex_clean_level2_50.zip +3 -0
  34. dataset/rotate_qrcode/aloha-agilex_clean_level3_50.zip +3 -0
  35. dataset/rotate_qrcode/aloha-agilex_randomized_level1_200.zip +3 -0
  36. dataset/rotate_qrcode/aloha-agilex_randomized_level2_200.zip +3 -0
  37. dataset/rotate_qrcode/aloha-agilex_randomized_level3_200.zip +3 -0
  38. dataset/rotate_qrcode/franka-panda_clean_level1_50.zip +3 -0
  39. dataset/rotate_qrcode/franka-panda_clean_level2_50.zip +3 -0
  40. dataset/rotate_qrcode/franka-panda_clean_level3_50.zip +3 -0
  41. dataset/rotate_qrcode/franka-panda_randomized_level1_200.zip +3 -0
  42. dataset/rotate_qrcode/franka-panda_randomized_level2_200.zip +3 -0
  43. dataset/rotate_qrcode/franka-panda_randomized_level3_200.zip +3 -0
  44. dataset/rotate_qrcode/ur5-wsg_clean_level1_50.zip +3 -0
  45. dataset/rotate_qrcode/ur5-wsg_clean_level2_50.zip +3 -0
  46. dataset/rotate_qrcode/ur5-wsg_clean_level3_50.zip +3 -0
  47. dataset/rotate_qrcode/ur5-wsg_randomized_level1_200.zip +3 -0
  48. dataset/rotate_qrcode/ur5-wsg_randomized_level2_200.zip +3 -0
  49. dataset/rotate_qrcode/ur5-wsg_randomized_level3_200.zip +3 -0
  50. dataset/scan_object/aloha-agilex_clean_level3_50.zip +3 -0
README.md CHANGED
@@ -1,3 +1,68 @@
1
- ---
2
- license: apache-2.0
3
- ---
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <h2 align="center"> Towards Generalizable Robotic Manipulation in Dynamic Environments </h2>
2
+
3
+ <div align="center">
4
+ <a href="https://arxiv.org/abs/2603.15620"><img src="https://img.shields.io/badge/arXiv-Paper-b31b1b?logo=Arxiv"></a>
5
+ <a href="https://h-embodvis.github.io/DOMINO/"><img src="https://img.shields.io/badge/Homepage-project-orange.svg?logo=googlehome"></a>
6
+ <a href="https://opensource.org/licenses/Apache-2.0"><img src="https://img.shields.io/badge/License-Apache%202.0-blue?style=flat-square"></a>
7
+
8
+ <h5 align="center"><em>Heng Fang<sup>1</sup>, Shangru Li<sup>1</sup>, Shuhan Wang<sup>1</sup>, Xuanyang Xi<sup>2</sup>, Dingkang Liang<sup>1</sup>, Xiang Bai<sup>1</sup> </em></h5>
9
+ <sup>1</sup> Huazhong University of Science and Technology, <sup>2</sup> Huawei Technologies Co. Ltd
10
+ </div>
11
+
12
+
13
+ ## 🔍 Overview
14
+
15
+ Dynamic manipulation requires robots to continuously adapt to moving objects and unpredictable environmental changes. Existing Vision-Language-Action (VLA) models rely on static single-frame observations, failing to capture essential spatiotemporal dynamics. We introduce **DOMINO**, a comprehensive benchmark for this underexplored frontier, and **PUMA**, a predictive architecture that couples historical motion cues with future state anticipation to achieve highly reactive embodied intelligence.
16
+
17
+ <details>
18
+ <summary>Abstract
19
+ </summary>
20
+
21
+ Vision-Language-Action (VLA) models excel in static manipulation but struggle in dynamic environments with moving targets. This performance gap primarily stems from a scarcity of dynamic manipulation datasets and the reliance of mainstream VLAs on single-frame observations, restricting their spatiotemporal reasoning capabilities. To address this, we introduce DOMINO, a large-scale dataset and benchmark for generalizable dynamic manipulation, featuring 35 tasks with hierarchical complexities, over 110K expert trajectories, and a multi-dimensional evaluation suite. Through comprehensive experiments, we systematically evaluate existing VLAs on dynamic tasks, explore effective training strategies for dynamic awareness, and validate the generalizability of dynamic data. Furthermore, we propose PUMA, a dynamics-aware VLA architecture. By integrating scene-centric historical optical flow and specialized world queries to implicitly forecast object-centric future states, PUMA couples history-aware perception with short-horizon prediction. Results demonstrate that PUMA achieves state-of-the-art performance, yielding a 6.3% absolute improvement in success rate over baselines. Moreover, we show that training on dynamic data fosters robust spatiotemporal representations that transfer to static tasks.
22
+ </details>
23
+
24
+ ### ✨ Key Idea
25
+
26
+ * Current VLA models struggle with dynamic manipulation tasks due to a scarcity of dynamic datasets and a reliance on single-frame observations.
27
+ * We introduce DOMINO, a large-scale benchmark for dynamic manipulation comprising 35 tasks and over 110K expert trajectories.
28
+ * We propose PUMA, a dynamics-aware VLA architecture that integrates historical optical flow and world queries to forecast future object states.
29
+ * Training on dynamic data fosters robust spatiotemporal representations, demonstrating enhanced generalization capabilities.
30
+
31
+ ## 📊 Dataset Summary
32
+
33
+ **DOMINO** is a large-scale, comprehensive dataset and benchmark designed for generalizable robotic manipulation in dynamic environments. It addresses the critical scarcity of dynamic manipulation data, which limits the spatiotemporal reasoning capabilities of existing Vision-Language-Action (VLA) models.
34
+
35
+ - **Total Trajectories:** 117,000 expert demonstrations.
36
+ - **Tasks:** 35 distinct dynamic manipulation tasks with hierarchical complexities.
37
+ - **Robot Platforms:** Multi-embodiment coverage including `franka-panda`, `ur5-wsg`, `aloha-agilex`, `ARX-X5`, and `piper`.
38
+ - **Environment Settings:** Includes both `clean` and `randomized`.
39
+ - **Difficulty Levels:** Progressively harder dynamic scenarios labeled from `level1` to `level3`.
40
+
41
+ ## 📁 Dataset Structure
42
+
43
+ The dataset is organized hierarchically by task name. Inside each task folder, the trajectories are packaged into `.zip` files grouped by robot type, environmental condition, difficulty level, and trajectory count.
44
+
45
+ A typical file path looks like this:
46
+ ```
47
+ dataset/<task_name>/<robot_name>_<condition>_<level>_<trajectory_count>.zip
48
+ ```
49
+
50
+
51
+ ## 🛠️ Usage
52
+
53
+ To download the full dataset, you can use the Hugging Face `huggingface-cli`:
54
+ ```bash
55
+ huggingface-cli download --repo-type dataset H-EmbodVis/DOMINO --local-dir DOMINO-dataset
56
+ ```
57
+
58
+ ## 📖 Citation
59
+
60
+ If you find this work useful, please consider citing:
61
+ ```bibtex
62
+ @article{fang2026towards,
63
+ title={Towards Generalizable Robotic Manipulation in Dynamic Environments},
64
+ author={Fang, Heng and Li, Shangru and Wang, Shuhan and Xi, Xuanyang and Liang, Dingkang and Bai, Xiang},
65
+ journal={arXiv preprint arXiv:2603.15620},
66
+ year={2026}
67
+ }
68
+ ```
dataset/press_stapler/ARX-X5_randomized_level3_200.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d16777110d30a48f67a13d36ce609eb4cebc6c0d9876a0e6ac985fe05ba11d41
3
+ size 499744949
dataset/press_stapler/aloha-agilex_randomized_level1_200.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2fe95a6cc0ad1b35b178132bba568f4920b0d01ccc1920dc417d98fd5eb5af1b
3
+ size 1113843029
dataset/press_stapler/aloha-agilex_randomized_level2_200.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4a51f4240e82e8710731d1d82703b461382dd65538fbdc39b495fccc17459a06
3
+ size 1135741562
dataset/press_stapler/aloha-agilex_randomized_level3_200.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1d08ed4e144685179c1b0e5e299525a209fdcca3e6710a3dfd2fe9e72ef8294c
3
+ size 1081352216
dataset/press_stapler/franka-panda_clean_level3_50.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:58a870c94dd146b72178ccca7928c077d2c0bbe2d4f4c2364f2e33fc63ab9023
3
+ size 47620936
dataset/press_stapler/franka-panda_randomized_level2_200.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2a507dcf51bd7df2140a8bd503180e2c5f37bcdb1fc24790de829fe6dc05d9fe
3
+ size 438467334
dataset/press_stapler/franka-panda_randomized_level3_200.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e099fd4d60997905754e1a4a56cfbab023974f51623527a3ccc1e0b3a8455b35
3
+ size 445092362
dataset/press_stapler/piper_clean_level3_50.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7bb17f2e4b4ba216c017858e5d3ae18d2573ece70df757f5ec4625f0b7c31263
3
+ size 57362296
dataset/press_stapler/piper_randomized_level2_200.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4db843fadf24262f6cf90cae0c65003ba905c0bd7caa0bde504d133bcf8aaf6f
3
+ size 617980755
dataset/press_stapler/ur5-wsg_clean_level2_50.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ecef10af17b6f9bf308026c4ceb6dc773016a0ee03b814b5989f7a4b9cf960f2
3
+ size 52501180
dataset/press_stapler/ur5-wsg_randomized_level1_200.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:82978db854c2b54987057ab09bc6d2802bde3957ac9ac53384f0b8d14b5abf14
3
+ size 459153107
dataset/press_stapler/ur5-wsg_randomized_level2_200.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7f9342995567eaf4b2987aebbd85133a1600d2b2a1b031a1934534b927d77507
3
+ size 473990677
dataset/put_object_cabinet/aloha-agilex_clean_level1_50.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:490eb0fc279596f6150feb89170498c3fd6a0338b7347ac8c1cc6772b063bdf2
3
+ size 721306526
dataset/put_object_cabinet/aloha-agilex_clean_level2_50.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1b364ab12122e3ff81338a295a65a91c92b8a30d6eb579dd837a18144e367f57
3
+ size 710564179
dataset/put_object_cabinet/aloha-agilex_clean_level3_50.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:28363cddc8f87a30ababa6ded62560c9eadc7afb73c6827684481df653d1e0aa
3
+ size 715451190
dataset/put_object_cabinet/aloha-agilex_randomized_level1_200.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3d3ed49df98b2c1492106b0ae85dc7619f4570e55ece9e0e9cf93e12c78ede19
3
+ size 3435676270
dataset/put_object_cabinet/aloha-agilex_randomized_level2_200.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a2ffae54a31a12b8ca80454f3d662cb963d504b9f0bb316b330e6a42754cfb6b
3
+ size 3417430544
dataset/put_object_cabinet/aloha-agilex_randomized_level3_200.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:15f3f1a8a8f1b0cbc297d6be2acc1642af144f7a3a4279661f8ee55a5aff4d49
3
+ size 3518300386
dataset/put_object_cabinet/franka-panda_clean_level1_50.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8e28a9de1246666b97cd0ee7785d84579d0be93b21ad7eadcf266afda8bfc0c4
3
+ size 283831463
dataset/put_object_cabinet/franka-panda_clean_level2_50.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a1fe38976e0cd6234d9af5b3f09a0f8c97f7eb692c27bb09a9997cb334f22d7e
3
+ size 289914139
dataset/put_object_cabinet/franka-panda_clean_level3_50.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3315ca4c6892c481a1bf8e0eb935aa107512ff3f78e0f30765b2b0fdaa5f18aa
3
+ size 285917525
dataset/put_object_cabinet/franka-panda_randomized_level1_200.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:33d660224180acd35410303aacb205e78a02d2eccca06dd65d5bc678de74119d
3
+ size 1456387727
dataset/put_object_cabinet/franka-panda_randomized_level2_200.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2b0dd0e70e3ca196b1960f0b023f576764a5b1d35582a137c79704f163d7887f
3
+ size 1431777677
dataset/put_object_cabinet/franka-panda_randomized_level3_200.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:df44ef9205dc44b841cdbd81ee6c404c2e068d7088dbe90ac6b54ef5f5ee60d3
3
+ size 1442824109
dataset/rotate_qrcode/ARX-X5_clean_level1_50.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:619d9c068d9837aa3cac8cb692abb99f743ec070835596b9a78f4814ac106ce4
3
+ size 125057683
dataset/rotate_qrcode/ARX-X5_clean_level2_50.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4a2362639c9e0c39c25d957b2cb2b9c2de6504144e65632a51313596c9acb8e8
3
+ size 125083886
dataset/rotate_qrcode/ARX-X5_clean_level3_50.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:baff5061a921f84063af285d50b511241d941da8b38e81812ccf626b1ff30762
3
+ size 125604528
dataset/rotate_qrcode/ARX-X5_randomized_level1_200.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3e60d3108e9294a9003b6e83dfd3d7338848e7f1ca65e4028d9f3c286280f007
3
+ size 1057633780
dataset/rotate_qrcode/ARX-X5_randomized_level2_200.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7a63cf4445c03424cb6da5220d729b7b782d2b13b901f7a5c78b5dd6e9443ff5
3
+ size 1063179096
dataset/rotate_qrcode/ARX-X5_randomized_level3_200.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:dd88a4d9751426b7bb02c751d8b2b8529fd869595ef0e65a403450f51818e19b
3
+ size 1045546311
dataset/rotate_qrcode/aloha-agilex_clean_level1_50.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:537c8a39e3114c4314a9417aad4cd6331bb290561761e33eeff214ade88792c6
3
+ size 279821078
dataset/rotate_qrcode/aloha-agilex_clean_level2_50.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c64bab4f91534d7b1ce12039e610aaf74e2cb26a3693cb5edfa8414d0dce886d
3
+ size 282744989
dataset/rotate_qrcode/aloha-agilex_clean_level3_50.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8c0b9f3a6841e50076a3ce5d1ba6f17c7416319914262ff31dc99d311d4d5564
3
+ size 290107823
dataset/rotate_qrcode/aloha-agilex_randomized_level1_200.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:825027b586c4d741687593cb4cd746d6e166948ba0a009cdb8d4cda36c05eab7
3
+ size 2191846426
dataset/rotate_qrcode/aloha-agilex_randomized_level2_200.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bef7c6f3a3fbab6d5880810c1f9f2971bf0ff1286c60898372319516e3cb3eb9
3
+ size 2234236688
dataset/rotate_qrcode/aloha-agilex_randomized_level3_200.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6f9489b0f86e8408ef0005aaec1a35ca0608ef0f4927903a86b121e6d1736673
3
+ size 2211661253
dataset/rotate_qrcode/franka-panda_clean_level1_50.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9ba6b429640f26380bce6bac91b2751b03d08cb52c4969e4820e6278818dfb6d
3
+ size 113323900
dataset/rotate_qrcode/franka-panda_clean_level2_50.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:71ead388e1310f906941d9b1ae30869146ae5923d94ba044146b76d36ab49027
3
+ size 115367079
dataset/rotate_qrcode/franka-panda_clean_level3_50.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:20d3902d3a66af1162ebb37d0ec7b0b304371db8cc394f0f576a4f6894c9c3d6
3
+ size 116253189
dataset/rotate_qrcode/franka-panda_randomized_level1_200.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5d7cbb9b238b27e6f155c40f7c240965643ba94afc459aa7a8acff6218ec40ad
3
+ size 957622971
dataset/rotate_qrcode/franka-panda_randomized_level2_200.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6748e10dc09b7fd8e6cf62d8a7de7e6baa0ad8711f65af1fd1eae3f64c282331
3
+ size 963955797
dataset/rotate_qrcode/franka-panda_randomized_level3_200.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c9d5c169d5252589de29606cdbe8b8c910c857dfe6a496eae613169bdee23109
3
+ size 941360549
dataset/rotate_qrcode/ur5-wsg_clean_level1_50.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:552b0504b52936a389c55f09eee4e728e4029a09456fa93246bf3a0f30418fbd
3
+ size 129871040
dataset/rotate_qrcode/ur5-wsg_clean_level2_50.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:beeca58744d375d1cc605b2dd38f18f5c9b4ccd304bc7e483373a7e7ce00f4f5
3
+ size 129657213
dataset/rotate_qrcode/ur5-wsg_clean_level3_50.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a110574711a250d111394d543126bac1138784d5af4231fe892a63f0954f154e
3
+ size 131744878
dataset/rotate_qrcode/ur5-wsg_randomized_level1_200.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:86da35442a112dbe5ca4c6eb9bd94d0ecda7add8f56c0027def0fafb25b2f6f2
3
+ size 1095946616
dataset/rotate_qrcode/ur5-wsg_randomized_level2_200.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:90dbaf3ed113c60758a93e0af6152eafdf15bc24c6c2e8c92cee141d5677ffa5
3
+ size 1125004095
dataset/rotate_qrcode/ur5-wsg_randomized_level3_200.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3356f6de260618827df6d49e7ec619902608dd824ab9da4a38e571066990e735
3
+ size 1087861425
dataset/scan_object/aloha-agilex_clean_level3_50.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a6e6e8ab2db418e6a14c8034bc69db31b1a7c7bedb278a81ff2e2a348b5d4eeb
3
+ size 505402407