toumai-eco/MedbotWorld

News 🌍

• [2026/03/13] Medbot World released.

Get started 🔥

hdf5 file format

We store all the imformations in the XXX.hdf5 file.

|-- observations
    |-- images
        |-- cam_high
        |-- cam_left_wrist
        |-- cam_right_wrist
    |-- qpos
|-- action
|-- prompt

Explanation of informations

observations and action

1. Images
   Images from the endoscope and the wrist cameras.
2. Action
   Action refers to the the both end effectors.
3. qpos
   State refers to the the both end effectors.

Value shapes

Group	Shape	Meaning
/observations/qpos	[N, 20]	left pos in m[:, :3], left 6D[:, 3:9], left gripper[:, 9],right pos in m[:, 10:13], right 6D[:, 13:19], right gripper[:, 20]
/action	[N, 20]	left pos in m[:, :3], left 6D[:, 3:9], left gripper[:, 9],right pos in m[:, 10:13], right 6D[:, 13:19], right gripper[:, 20]

License and Citation

All the data and code within this repo are under [CC BY-NC 4.0]. Please consider citing our project if it helps your research.