7. Datasets

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

Dataset available

File Name	Description	Example Video
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.	Video
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.	Video
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.	Video
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.	Coming soon

Baseline Method Performance on Datasets

Please see the performance of baseline methods trained on each dataset on our Baseline page here.