tmeynier2026
Hepha ACT Dataset
LeRobot-style behavior-cloning dataset generated from the Hepha MuJoCo simulation with 100 episodes of drawer manipulation tasks.
Downloads46
Episodes100
Hours1.8519
Technical Profile
- Modalities
- rgbproprioception
- Robot Embodiments
- hepha_mujoco
- Action Space
- 15-DoF: target_base_link_base_cnc_x_joint_normalized, target_cnc_x_link_cnc_x_cnc_y_joint_normalized, target_cnc_y_link_cnc_y_head_joint_normalized, target_head_link_head_shoulder_l_joint_normalized, target_shoulder_l_link_shoulder_l_forearm_l_joint_normalized, target_forearm_l_link_forearm_l_arm_l_joint_normalized, target_arm_l_link_arm_l_wrist_l_joint_normalized, target_wrist_l_link_wrist_l_hand_l_joint_normalized, target_head_link_head_shoulder_r_joint_normalized, target_shoulder_r_link_shoulder_r_forearm_r_joint_normalized, target_forearm_r_link_forearm_r_arm_r_joint_normalized, target_arm_r_link_arm_r_wrist_r_joint_normalized
- Environment
- simulation
- Task Types
- manipulationdrawer_opening
- Episodes
- 100
- Total Hours
- 1.8519
- Data Format
- LeRobot
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