Search is not available for this dataset
observation.state list | action list | observation.is_intervention float32 0 1 | observation.is_success float32 0 1 | timestamp float32 0 203 | frame_index int64 0 6.09k | episode_index int64 0 48 | index int64 0 164k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "bi_flexiv_rizon4_rt",
"total_episodes": 49,
"total_frames": 163709,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:49"
},
"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": {
"observation.state": {
"dtype": "float32",
"shape": [
20
],
"names": [
"left_tcp.x",
"left_tcp.y",
"left_tcp.z",
"left_tcp.r1",
"left_tcp.r2",
"left_tcp.r3",
"left_tcp.r4",
"left_tcp.r5",
"left_tcp.r6",
"right_tcp.x",
"right_tcp.y",
"right_tcp.z",
"right_tcp.r1",
"right_tcp.r2",
"right_tcp.r3",
"right_tcp.r4",
"right_tcp.r5",
"right_tcp.r6",
"left_gripper.pos",
"right_gripper.pos"
]
},
"action": {
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20
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"names": [
"left_tcp.x",
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"left_tcp.r5",
"left_tcp.r6",
"right_tcp.x",
"right_tcp.y",
"right_tcp.z",
"right_tcp.r1",
"right_tcp.r2",
"right_tcp.r3",
"right_tcp.r4",
"right_tcp.r5",
"right_tcp.r6",
"left_gripper.pos",
"right_gripper.pos"
]
},
"observation.images.head": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
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],
"info": {
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"video.codec": "h264",
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"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left_wrist": {
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640,
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],
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],
"info": {
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}
},
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],
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},
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},
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}
}
}
Citation
BibTeX:
@misc{vertax2026lerobotxense,
author = {vertax42 and Xense Robotics Team},
title = {LeRobot-Xense: LeRobot with Xense Tactile Robotics Support},
howpublished = {\url{https://github.com/Vertax42/lerobot-xense}},
year = {2026}
}
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