andreaskoepf/dk1-merge-2026-03

---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
configs:
- config_name: default
data_files: data/*/*.parquet
---

# DK-1 Merged Dataset

This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).

<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=andreaskoepf/dk1-merge-2026-03">
<img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/>
<img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>
</a>

## Dataset Description

Merged and deduplicated DK-1 bimanual robot dataset. All source videos are re-encoded to 640x360 h264 with 14D joint-space actions. Per-episode FPS is preserved from the source datasets.

- **Generated:** 2026-03-27
- **Total episodes:** 1,823
- **Total frames:** 2,230,018
- **Total tasks:** 17
- **Resolution:** 640x360
- **Codec:** h264
- **FPS:** 30, 50 (per-episode, stored in episodes.jsonl)
- **Cameras:** head, left_wrist, right_wrist
- **Action dim:** 14 (6 joint + 1 gripper per arm)

## Source Datasets

| Dataset |
|---|
| [FabianKerj/dualarm-pretrain-127ep](https://huggingface.co/datasets/FabianKerj/dualarm-pretrain-127ep) |
| [Gongsta/e7-tshirt-folding](https://huggingface.co/datasets/Gongsta/e7-tshirt-folding) |
| [Gongsta/e7_dagger](https://huggingface.co/datasets/Gongsta/e7_dagger) |
| [Gongsta/krish-simpler-tshirt](https://huggingface.co/datasets/Gongsta/krish-simpler-tshirt) |
| [Gongsta/trlc_tshirt_folding](https://huggingface.co/datasets/Gongsta/trlc_tshirt_folding) |
| [Gongsta/trlc_tshirt_folding_impedance](https://huggingface.co/datasets/Gongsta/trlc_tshirt_folding_impedance) |
| [Zasha01/cube_transfer_final](https://huggingface.co/datasets/Zasha01/cube_transfer_final) |
| [Zasha01/lego_cube](https://huggingface.co/datasets/Zasha01/lego_cube) |
| [Zasha01/lego_cube_final](https://huggingface.co/datasets/Zasha01/lego_cube_final) |
| [Zasha01/packaging](https://huggingface.co/datasets/Zasha01/packaging) |
| [Zasha01/test_tube_insertion6](https://huggingface.co/datasets/Zasha01/test_tube_insertion6) |
| [Zasha01/test_tube_insertion7](https://huggingface.co/datasets/Zasha01/test_tube_insertion7) |
| [Zasha01/towel_folding](https://huggingface.co/datasets/Zasha01/towel_folding) |
| [Zasha01/video4](https://huggingface.co/datasets/Zasha01/video4) |
| [andreaskoepf/dk1_domino_sorting_001](https://huggingface.co/datasets/andreaskoepf/dk1_domino_sorting_001) |
| [andreaskoepf/dk1_flip_coaster](https://huggingface.co/datasets/andreaskoepf/dk1_flip_coaster) |
| [andreaskoepf/dk1_golfball_into_cup](https://huggingface.co/datasets/andreaskoepf/dk1_golfball_into_cup) |
| [dopaul/pcb_placement_100x_1st_item](https://huggingface.co/datasets/dopaul/pcb_placement_100x_1st_item) |
| [dopaul/pcb_placement_v1](https://huggingface.co/datasets/dopaul/pcb_placement_v1) |
| [qualiaadmin/eventgrab11](https://huggingface.co/datasets/qualiaadmin/eventgrab11) |
| [qualiaadmin/pinkthing_reward1_10](https://huggingface.co/datasets/qualiaadmin/pinkthing_reward1_10) |
| [qualiaadmin/pinkthing_reward1_20](https://huggingface.co/datasets/qualiaadmin/pinkthing_reward1_20) |
| [qualiaadmin/plasticcuprepeat1](https://huggingface.co/datasets/qualiaadmin/plasticcuprepeat1) |