b129021362026MIT
DexJoCo bimanual_assembly
1000 generated demonstrations of bimanual assembly tasks (grasping a tray and peg, then inserting the peg into a hole) produced by SE(3)-warping official human teleoperation demos onto randomized object layouts in MuJoCo.
Downloads0
Episodes1000
Why This Matters for Physical AI
DexJoCo bimanual_assembly demonstrates scalable synthetic data generation for dexterous manipulation through SE(3)-warping and provides a large-scale benchmark for learning bimanual coordination and precise insertion tasks.
Technical Profile
- Modalities
- rgbproprioceptionstate
- Robot Embodiments
- Allegro Handbimanual manipulator
- Action Space
- joint_positions
- Environment
- simulation
- Task Types
- manipulationbimanual_manipulationdexterous_manipulationpick_and_placeinsertion
- Episodes
- 1000
- Data Format
- zarr
- Annotation Types
- task_instructionsepisode_provenance
- License
- MIT
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