ARCLab

Welcome to ARCLab, the astrodynamics, robotics, and controls lab in the AeroAstro department at MIT

Please upload datasets with the following convention

{robot}_{datatype}_{name}_dataset

where:

• robot is the embodiment / simulation you are using (e.g. koch, xarm, rx1)
• datatype is included if the dataset is augmented or modified in any way (e.g. a dataset with masking applied: masked)
• name is the activity or data you are collecting (e.g. for pick and place data name: pickandplace)
• Always end with an appended _dataset

A full example for a dataset collected using the Koch arms, that applies binary masking, and performs pick and place tasks:

koch_masked_pickandplace_dataset

Likewise, for trained models follow a similar convention

{robot}_{modeltype}_{datatype}_{name}_model

where:

• modeltype is the model used to train (e.g. action chunking with transformers: act)
• name is the activity the model performs (e.g. for pick and place data name: pickandplace)
• Always end with an appended _model