RP1M: A Large-Scale Motion Dataset for Piano Playing with Bi

rp1mOur RP1M dataset is the first large-scale dataset of dynamic, bimanual manipulation with dexterous robot hands. It includes bimanual robot piano playing motion data of ~1M expertTo this end, we introduce the Robot Piano 1 Million (RP1M) dataset, containing bi-manual robot piano playing motion data of more than one million trajectories.