JeffrinSam/bimanual-ur3-dreamzero-v2

Bimanual UR3 Dataset for DreamZero (v2)

LeRobot v2.1 + GEAR metadata for DreamZero embodiment fine-tuning.

v2 changelog (use this version)

• Fixed actions: action = observation.state (original logs had zero actions)
• Task prompt: pick_up_greenball_using_rightarm_and_pass_it_to_rightarm
• 106 episodes, 43,417 frames, 30 FPS
• 3 cameras: main (1280x720), left_wrist, right_wrist (640x480)
• 14-D bimanual state/action (6 joint + 1 gripper per arm)

Layout

data/chunk-000/episode_XXXXXX.parquet
videos/chunk-000/observation.images.*/episode_XXXXXX.mp4
meta/modality.json, embodiment.json, stats.json, relative_stats_dreamzero.json, ...

Training

BIMANUAL_DATA_ROOT=/path/to/this/repo bash scripts/train/bimanual_ur3_training.sh

Base checkpoint: DreamZero-AgiBot

Embodiment

• Tag: bimanual_ur3
• Robot: dual UR3 + Robotiq 2F-85