Final Ground Truth
Collection
Robot and human demos for 35 tasks so far and keep updating it. The 3 eval tasks have both the roboand the human demos with variationupdated already. • 85 items • Updated
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action listlengths 7 7 ⌀ | observation.state listlengths 7 7 ⌀ | timestamp float32 0 9.37 ⌀ | frame_index int64 0 281 ⌀ | episode_index int64 0 9 ⌀ | index int64 0 2.54k ⌀ | task_index int64 0 0 ⌀ |
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End of preview. Expand in Data Studio
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Check out the documentation for more information.
Fix history
This dataset was repaired twice after its initial upload. The underlying recordings (video frames, robot states/actions, per-episode statistics) were never corrupted — both issues were in file layout and metadata.
Fix 1 — 2026-07-09: single-file layout consolidation
The original upload stored episodes across multiple parquet/video files
(file-000 + file-001), which made row counts display incorrectly on the
Hugging Face Hub. The repo was consolidated into a single
chunk-000/file-000 file per modality (2026-07-09 commit “Standardize all-camera dataset layout”).
Fix 2 — 2026-07-11: video seek timestamps for merged episodes
The consolidation concatenated the videos but kept the file-relative
videos/*/from_timestamp / to_timestamp values for the episodes that came
from the second source file. Their timestamps restarted at 0 mid-dataset, so
any loader that seeks by this metadata (LeRobotDataset, the
lerobot/visualize_dataset space) silently decoded wrong video frames for
episode(s) 5–9 — e.g. an affected episode played footage from the
start of the file (episode 0) while its state/action data was correct.
The mp4s were verified to contain all episodes back-to-back in episode order
(frame counts match exactly; per-episode image statistics and pixel-level
decoding match the cumulative positions). The repair therefore only rewrote
videos/*/from_timestamp / to_timestamp in
meta/episodes/chunk-000/file-000.parquet to cumulative offsets
(cumsum(episode lengths) / fps). No video, data, or statistics files were
modified.
If you downloaded this dataset before 2026-07-11, delete your local copy
(e.g. ~/.cache/huggingface/lerobot/LearningFromVideo/dk1-grey-cup-on-pan-including-distractors-10eps) so the corrected metadata is
fetched.
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