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Box opening and closing
63 bimanual ARX demonstrations containing 63,894 synchronized frames at 100 Hz. The instruction is open the box, then close the box. All supplied episodes are assigned to training; this release makes no held-out evaluation claim.
Native LeRobot v3 contains absolute 14-dimensional recorded joint/gripper
commands in action, 14-dimensional proprioception in observation.state,
and three clean RGB camera streams: video_overhead, video_left, and
video_right. The fixed full-task instruction is in prompt.
Images are decoded from the recordings, resized from 1280×800 to 448×280 with
OpenCV bilinear interpolation, and padded with 84 black pixels above and below
to 448×448. Videos use H.264 CRF 18 with yuv420p pixel format and a 100 Hz clock.
No frames are dropped. Original acquisition timestamps and annotated phase
indices are preserved as source.timestamp and source.phase; the flat-policy
training setup does not use the phase annotation as a policy input.
meta/source_manifest.json records source content hashes and preprocessing.
meta/stats.json contains state/action statistics and exact per-dimension
1st and 99th percentiles over all recorded training frames. An action horizon
of 100 represents one second; chunks may span the opening/closing transition
and are padded with the final action at the episode end.
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