7. Datasets

Datasets

RoboHive provides open-source datasets for both expert and human trajectories that accompany its environments. All data can be downloaded here.

• DAPG(expert): This dataset includes expert trajectories generated on each DAPG environment using the policies from the original DAPG repo. Each environment has 25 recorded trajectories.
• DAPG(human): This dataset includes human teleoperation trajectories on each DAPG environment. These are obtained by replaying the trajectories provided in the original DAPG repo on corresponding RoboHive environements.
• FK1-v4(expert): This dataset includes expert trajectories generated on each kitchen environment using open-sourced NPG policies from here. Each environment has 25 recorded trajectories.
• FK1-v4(human): This dataset includes human teleoperation trajectories replayed using trajectories from the original Relay repo. The trajectories are play data, which complete a few tasks in a row. This dataset has in total 603 trajectories.