weiadam82025MIT
Sim-Sim Tee Planar Pushing (Carbon, Large)
Simulated planar-pushing demonstrations where a pusher moves a T-shaped slider to a target pose on a table, collected via human teleoperation with a gamepad controller. Each frame contains two 128×128 RGB camera views (overhead and wrist), pusher state, slider pose, and goal pose.
Downloads8
Episodes520
Hours3.13
Why This Matters for Physical AI
This dataset provides a large-scale benchmark for training and evaluating diffusion policies on planar pushing tasks with sim-to-real transfer potential, enabling empirical analysis of cotraining strategies between simulation and real robot data.
Technical Profile
- Modalities
- rgbproprioception
- Robot Embodiments
- planar pusher
- Action Space
- end_effector_absolute
- Environment
- simulation
- Task Types
- planar pushingpush-t
- Episodes
- 520
- Total Hours
- 3.13
- Data Format
- zarr
- License
- MIT
Access
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