jellyhoapache-2.0
BiGym, state observations, OGBench layout, uniform 20 Hz
BiGym task demonstrations replayed once and stored in OGBench's on-disk layout with state observations at uniform 20 Hz sampling rate. Includes 40 manipulation tasks with privileged object state information and per-episode success labels.
Downloads84
Episodes1655
Why This Matters for Physical AI
This dataset enables offline reinforcement learning research on complex manipulation tasks with realistic failure modes, providing both successful and failed trajectories to train robust robot learning policies.
Technical Profile
- Modalities
- proprioceptionobject_state
- Robot Embodiments
- Franka Panda
- Action Space
- joint_positions
- Environment
- simulation
- Task Types
- manipulationpick_and_placegraspingopeningclosingstackingreaching
- Episodes
- 1655
- Data Format
- OGBench
- Annotation Types
- reward_labelsepisode_successterminals
- License
- apache-2.0
Access
Need custom proprioception data?
Claru builds purpose-built datasets for simulation applications with dense human annotations and quality assurance.
Request a Sample Pack