as54/lerobot_model_ego_grasp_test1
Robotics • 51.7M • Updated • 2
Search is not available for this dataset
observation.state list | action list | timestamp float32 0 15 | frame_index int64 0 450 | episode_index int64 0 1.28k | index int64 0 186k | task_index int64 0 1.1k |
|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
robox/ego-grasp-1783507905
Egocentric hand-manipulation dataset in LeRobot v3.0 format, produced by the Robox export pipeline from real on-device hand-tracking recordings. It is structured for direct use with LeRobot (ACT / Diffusion / pi0-style policies).
Dataset Summary
- Episodes: 1276
- Frames: 186255
- Tasks: 1101
- FPS: 30
- Robot type:
robox_ego_hand - Codebase version: v3.0
- State / action dim: 15
State / action components:
wrist_x, wrist_y, wrist_z, wrist_qx, wrist_qy, wrist_qz, wrist_qw, finger_curl_thumb, finger_curl_index, finger_curl_middle, finger_curl_ring, finger_curl_pinky, pinch_thumb_index, pinch_thumb_middle, pinch_thumb_ring
Features
| Key | dtype | shape |
|---|---|---|
observation.images.front |
video | [480, 640, 3] |
observation.state |
float32 | [15] |
action |
float32 | [14] |
timestamp |
float32 | [1] |
frame_index |
int64 | [1] |
episode_index |
int64 | [1] |
index |
int64 | [1] |
task_index |
int64 | [1] |
Structure
meta/info.json # schema, fps, feature spec (canonical)
meta/tasks.parquet # task_index -> natural-language task
meta/episodes/*.parquet # per-episode index, length, video timestamps
meta/stats.json # per-feature statistics
meta/robox_export.json # licence + provenance (Robox sidecar)
meta/robox_validation.json # structural validation report
data/chunk-000/*.parquet # per-frame state / action / timestamp
videos/observation.images.front/chunk-000/*.mp4 # RGB, one shard per chunk
Episodes are packed into shared chunk shards (one .mp4 and one .parquet per chunk); per-episode boundaries are addressed by the row ranges and video timestamps in meta/episodes.
meta/info.json (full canonical schema)
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.images.front": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": null,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {},
"is_depth_map": false
}
},
"observation.state": {
"dtype": "float32",
"shape": [
15
],
"names": [
"wrist_x",
"wrist_y",
"wrist_z",
"wrist_qx",
"wrist_qy",
"wrist_qz",
"wrist_qw",
"finger_curl_thumb",
"finger_curl_index",
"finger_curl_middle",
"finger_curl_ring",
"finger_curl_pinky",
"pinch_thumb_index",
"pinch_thumb_middle",
"pinch_thumb_ring"
]
},
"action": {
"dtype": "float32",
"shape": [
14
],
"names": [
"d_wrist_x",
"d_wrist_y",
"d_wrist_z",
"d_wrist_rotvec_x",
"d_wrist_rotvec_y",
"d_wrist_rotvec_z",
"d_finger_curl_thumb",
"d_finger_curl_index",
"d_finger_curl_middle",
"d_finger_curl_ring",
"d_finger_curl_pinky",
"d_pinch_thumb_index",
"d_pinch_thumb_middle",
"d_pinch_thumb_ring"
]
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
},
"total_episodes": 1276,
"total_frames": 186255,
"total_tasks": 1101,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"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",
"robot_type": "robox_ego_hand",
"splits": {
"train": "0:1276"
}
}
Licence & Provenance
- Licence:
see meta/robox_export.json - Export id:
beb4b060-19da-47f6-a7da-c1aaf68ab655 - Source recordings: 1000
Full licensing, buyer and source-recording provenance are in meta/robox_export.json. This dataset is distributed under its stated commercial terms — not an open-source licence — despite the Hub license: other tag.
Created with
This dataset was created using LeRobot and the Robox LeRobot v3 export worker.
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Models trained or fine-tuned on as54/lerobot_ego_grasp_test1