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Data

Config Sample Dataset

Below is a small portion of data that Config licenses for training purpose. Config currently has 100K+ hours of data in diverse environments.

Visualizer link

1.7.9/Config-data-catalog-260610 | episode episode_0

Download link

curl -O https://storage.config.inc/Config-data-catalog-260610.tar.gz

Dataset guideline

  • This dataset is for training a VLA model with Robotiq 2F-85 grippers.
  • This dataset abides by the LeRobot v2.1 format.
  • Please use the following field for the 14 DoF action:
    • action (14 DoF)
  • The action[0:6] and action[7:13] represent target_position - current_position, i.e. how much and which direction the gripper should move at the current state.
  • The action[6] and action[13] are absolute target gripper position (not current gripper position).