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Bright 2026 Benchmark - Robot 19234 (Apex)
Competition task: 单词拼写 (Word Spelling)
Dataset Format
LeRobot v2.1 format with 3 camera views (face, left wrist, right wrist).
Action / State Dimensions (56-dim)
| Dim Range | Key | Description |
|---|---|---|
| 0-2 | follow_left_ee_cartesian_pos |
Left arm end-effector position (x, y, z) |
| 3-5 | follow_left_ee_rotation |
Left arm end-effector rotation (roll, pitch, yaw) |
| 6 | follow_left_gripper |
Left gripper openness |
| 7-9 | follow_right_ee_cartesian_pos |
Right arm end-effector position (x, y, z) |
| 10-12 | follow_right_ee_rotation |
Right arm end-effector rotation (roll, pitch, yaw) |
| 13 | follow_right_gripper |
Right gripper openness |
| 14-20 | follow_left_arm_joint_pos |
Left arm joint positions (6 joints + gripper, 7 dims) |
| 21-27 | follow_left_arm_joint_dev |
Left arm joint deviations (6 joints + gripper, 7 dims) |
| 28-34 | follow_left_arm_joint_cur |
Left arm joint currents (6 joints + gripper, 7 dims) |
| 35-41 | follow_right_arm_joint_pos |
Right arm joint positions (6 joints + gripper, 7 dims) |
| 42-48 | follow_right_arm_joint_dev |
Right arm joint deviations (6 joints + gripper, 7 dims) |
| 49-55 | follow_right_arm_joint_cur |
Right arm joint currents (6 joints + gripper, 7 dims) |
Total: 14 (ee pose + gripper) + 42 (joint data, 7 dims x 6 keys) = 56 dimensions
Observation Images
| Key | Description | Resolution |
|---|---|---|
observation.images.faceImg |
Front-facing camera | 480 x 640 |
observation.images.leftImg |
Left wrist camera | 480 x 640 |
observation.images.rightImg |
Right wrist camera | 480 x 640 |
Robot Info
- Robot type: X2 dual-arm
- Robot ID: 19234
- FPS: 20
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