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.
Tabletop dataset
A sample of the Config data catalog collected in tabletop 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.gzIn-the-wild dataset
A sample of the Config data catalog collected in a mobile setup with handheld grippers, covering diverse in-the-wild environments.
Visualizer link
1.8.0/Config-in-the-wild-data-catalog-260720-10H | episode episode_0
Download link
curl -O https://storage.config.inc/Config-in-the-wild-data-catalog-260720-10H.tar.gz- Faces are masked for privacy.
- Task instructions include validated non-English instructions.
- Subtask annotations are not yet included for this dataset.
Dataset guideline
These guidelines apply to both datasets above.
- These datasets are for training a VLA model with Robotiq 2F-85 grippers.
- These datasets abide by the LeRobot v2.1 format.
- Please use the following field for the 14 DoF action:
action(14 DoF)
- The
action[0:6]andaction[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]andaction[13]are absolute target gripper position (not current gripper position).