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observation.state
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14
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2
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2.5
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2.6
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2.633333
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2.666667
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2.7
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2.8
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2.833333
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2.866667
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2.9
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2.933333
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3
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3.033333
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3.066667
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3.1
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3.133333
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3.166667
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3.2
96
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96
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[ 0.2869935631752014, 1.5298795700073242, 0.465567409992218, 0.6090025305747986, 0.3127986192703247, 0.07943186163902283, 0.642034113407135, -8.808036113805429e-7, 0.000656117161270231, 0.00008085093577392399, -0.000005328035513230134, -2.5331104325232445e-7, -1.0163002883700756e-8, 3.327926...
[ 0.2847529649734497, 1.5426279306411743, 0.47235044836997986, 0.593575656414032, 0.30341920256614685, 0.2796039879322052, 0, 0, 0, 0, 0, 0, 0, 0 ]
3.233333
97
0
97
0
[ 0.2859205901622772, 1.5365750789642334, 0.4679802656173706, 0.6014330983161926, 0.30819398164749146, 0.1769847869873047, 0.5262287855148315, -8.808042935015692e-7, 0.0006561173941008747, 0.00008085132867563516, -0.000005328683073457796, -2.5330891162411717e-7, -1.0214901813299093e-8, 3.327...
[ 0.266671359539032, 1.582122564315796, 0.4806162118911743, 0.5773116946220398, 0.26341918110847473, 0.31960397958755493, 0, 0, 0, 0, 0, 0, 0, 0 ]
3.266667
98
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98
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[ 0.27659374475479126, 1.559135913848877, 0.4733259677886963, 0.5896567106246948, 0.2864481806755066, 0.24624764919281006, 0.414687842130661, -8.808197549114993e-7, 0.0006561173358932137, 0.00008085154695436358, -0.000005329296527634142, -2.5321810426248703e-7, -1.0148281326394226e-8, 3.3279...
[ 0.266671359539032, 1.582122564315796, 0.4806162118911743, 0.5773116946220398, 0.26341918110847473, 0.31960397958755493, 0, 0, 0, 0, 0, 0, 0, 0 ]
3.3
99
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99
0
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quest3-acone_v3

LeRobot v3.0 dataset for training robot manipulation policies such as pi0.5 on a bimanual sorting task.

Dataset Summary

This dataset contains teleoperated demonstrations for an acone robot. The task is:

Sort nuts and bolts into separate bins: use the left arm to pick each bolt and place it in the left bin, and use the right arm to pick each nut and place it in the right bin.

The dataset was originally recorded in LeRobot v2.1 format and converted locally to LeRobot v3.0.

Key Details

Field Value
LeRobot format v3.0
Robot type acone
Episodes 50
Frames 23,007
FPS 30
Total duration 12 min 47 sec
Average episode length 15.34 sec
Train split 0:50

Episode lengths range from 335 to 576 frames.

Modalities

  • observation.state: 14D robot state.
  • action: 14D robot action.
  • observation.images.head_camera: 224x224 RGB video.
  • observation.images.left_wrist_camera: 224x224 RGB video.
  • observation.images.right_wrist_camera: 224x224 RGB video.

State/action dimensions:

left_joint1, left_joint2, left_joint3, left_joint4, left_joint5, left_joint6, left_gripper, right_joint11, right_joint12, right_joint13, right_joint14, right_joint15, right_joint16, right_gripper

Videos are stored as AV1 yuv420p MP4 files at 30 FPS.

Loading

from lerobot.datasets import LeRobotDataset

dataset = LeRobotDataset("AiSaurabhPatil/quest3-acone_v3")
sample = dataset[0]

Intended Use

This dataset is intended for imitation learning and policy training experiments with LeRobot-compatible models, especially vision-language-action policies such as pi0.5.

Dataset Structure

  • data/chunk-000/file-000.parquet: frame-level metadata, states, actions, timestamps, task indices.
  • videos/<video_key>/chunk-000/file-000.mp4: concatenated per-camera videos.
  • meta/info.json: LeRobot dataset metadata.
  • meta/stats.json: aggregate statistics.
  • meta/episodes/chunk-000/file-000.parquet: episode metadata and per-episode stats.
  • meta/tasks.parquet: task table.

License

Apache 2.0.

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