Datasets:

Eter0109
/

a3-front-close-left-100

LeRobot v3.0 simulation dataset for the A3 cookie-transfer task. This is the left-only training projection of a3_front_close_v2_100, not a new independent collection.

100 episodes, 42,681 frames, 20 Hz control.
Task: transfer 10 cookies into the target box using the same-column expert.
State and action: 8 dimensions (L_q1..L_q7,L_gripper); stored actions are joint-position commands.
Three embedded 256 x 256 RGB image streams: front, left wrist, right wrist.
Auxiliary observations retain their original dual-arm dimensions; environment action dimension is 16.
Front camera position: (0.50, -0.18, 1.25) m; workspace target: (0.15, 0.23, 0.77) m; vertical field of view: 48 degrees. Camera geometry is a prototype estimate, not a calibrated measurement.
The train split contains all 100 episodes; no independent held-out evaluation split is provided.

collection_summary.json records collection configuration and source provenance. a3_episode_metadata.jsonl and attempts.jsonl retain collection metadata. Parquet files include image bytes.

Before upload, actual Parquet rows were verified to contain episodes 0 through 99, 42,681 total frames, finite 8-D states and actions, and all three embedded image streams.

Simulator: https://github.com/Eter0109/a3_dual_arm_sim

Camera defaults matching this dataset: https://github.com/Eter0109/a3_dual_arm_sim/commit/ff552c4fe54fe344aeaff4c65270ee0fd2af4153

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