Search is not available for this dataset
action listlengths 8 8 | observation.state listlengths 8 8 | observation.velocity listlengths 8 8 | episode_index int64 0 51.2k | frame_index int64 0 298 | index int64 0 812k | task_index int64 0 0 | timestamp float32 0 19.9 | next.done bool 2
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End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Description
RoboLab (Isaac Lab) manipulation dataset — RFCL x RoboLab RL-policy rollouts converted to LeRobot v3.0 for pi0.5 (pi05) SFT. 51239 episodes / 812250 frames.
- cameras: over_shoulder_left_camera, wrist_cam (480x270)
- action (8): droid-frame joint targets (7) + gripper [0,1]; observation.state (8) follows the same convention (droid_v3 / pi05 compatible)
- pipeline: decoupled state collection -> teleport-replay render (DLSS Quality) -> LeRobot v3.0
Visualize
Open in the LeRobot dataset visualizer
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "unknown",
"total_episodes": 51239,
"total_frames": 812250,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:51239"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
"action": {
"dtype": "float32",
"shape": [
8
],
"names": {
"motors": [
"j0",
"j1",
"j2",
"j3",
"j4",
"j5",
"j6",
"gripper"
]
},
"fps": 15
},
"observation.state": {
"dtype": "float32",
"shape": [
8
],
"names": {
"motors": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"joint_7"
]
},
"fps": 15
},
"observation.velocity": {
"dtype": "float32",
"shape": [
8
],
"names": null,
"fps": 15
},
"episode_index": {
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"shape": [
1
],
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},
"frame_index": {
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1
],
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},
"index": {
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},
"task_index": {
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},
"timestamp": {
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],
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},
"next.done": {
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"shape": [
1
],
"names": null,
"fps": 15
},
"observation.images.over_shoulder_left_camera": {
"dtype": "video",
"shape": [
270,
480,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 270,
"video.width": 480,
"video.codec": "avc1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15.0,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.wrist_cam": {
"dtype": "video",
"shape": [
270,
480,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 270,
"video.width": 480,
"video.codec": "avc1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15.0,
"video.channels": 3,
"has_audio": false
}
}
}
}
Citation
BibTeX:
[More Information Needed]
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