tmeynier2026
Hepha ACT Dataset
LeRobot-style behavior-cloning dataset generated from the Hepha MuJoCo simulation with 100 episodes of robot manipulation tasks.
Downloads63
Episodes100
Hours1.7458
Technical Profile
- Modalities
- rgbproprioception
- Robot Embodiments
- hepha_mujoco
- Action Space
- 15-DoF: next_base_link_base_cnc_x_joint_normalized, next_cnc_x_link_cnc_x_cnc_y_joint_normalized, next_cnc_y_link_cnc_y_head_joint_normalized, next_head_link_head_shoulder_l_joint_normalized, next_shoulder_l_link_shoulder_l_forearm_l_joint_normalized, next_forearm_l_link_forearm_l_arm_l_joint_normalized, next_arm_l_link_arm_l_wrist_l_joint_normalized, next_wrist_l_link_wrist_l_hand_l_joint_normalized, next_head_link_head_shoulder_r_joint_normalized, next_shoulder_r_link_shoulder_r_forearm_r_joint_normalized, next_forearm_r_link_forearm_r_arm_r_joint_normalized, next_arm_r_link_arm_r_wrist_r_joint_normalized
- Environment
- simulation
- Task Types
- manipulation
- Episodes
- 100
- Total Hours
- 1.7458
- Data Format
- LeRobot
Access
Need custom rgb data?
Claru builds purpose-built datasets for simulation applications with dense human annotations and quality assurance.
Request a Sample Pack