Datasets:
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action listlengths 7 7 | observation.state listlengths 7 7 | timestamp float32 0 31.6 | frame_index int64 0 316 | episode_index int64 0 224 | index int64 0 66.9k | task_index int64 0 0 |
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End of preview. Expand in Data Studio
KUKA heat reaction — expert, absolute actions (v2)
225 episodes, 66922 frames at 10 Hz. LeRobot codebase_version: v3.0.
Source delta demonstrations: https://huggingface.co/datasets/ar0s/kuka_heat_reaction_expert
Cartesian actions are absolute targets reconstructed from the original controller
command history, including IK anti-windup. The gripper remains absolute.
Observations and videos are unchanged. Action statistics were recomputed.
This replaces the incorrect measured-pose-plus-delta conversion.
See meta/action_conversion.json for provenance and the numerical audit.
The expert copy excludes the extra simulator-state/performance columns for policy training.
Evaluate with the corrected AutoLab controller and absolute_actions=true.
Action noise
There is none. Generated 2026-09-04, before the generator had any noise
machinery: POSITION_NOISE first entered the repository 2026-09-06 and the
DART clean_labels option 2026-09-08. The actions are a clean staircase from a
proportional controller with a 0.020 m per-axis step cap — across the first 25
episodes, 15977 of 22185 action-delta components (72.0%) are exactly zero and
the largest is exactly 0.020000011. A robust second-difference estimate of
injected per-step jitter reads 0.000 mm on every axis.
Structure
data/chunk-000/file-000.parquet actions, states, episode/frame index
meta/info.json features, fps, totals
meta/stats.json per-feature normalisation statistics
meta/tasks.parquet task strings
meta/episodes/ per-episode index
meta/action_conversion.json delta -> absolute conversion audit
videos/ wrist_left and front_center, AV1, 480x640
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