azorematter/dice_white_pnp_stream_100

This dataset was created using LeRobot.

Dataset Description

Collection metrics

100 episodes, 62850 frames at 30 fps, 2095 s of demonstration. Generated 2026-09-03T02:40:41Z by fanuc_control.data_utils.metrics v1. Definitions and thresholds: docs/metrics.md.

Pose channel	value	note
identical consecutive poses	0.0%	old corpus 18% (cache frozen during moves)
exact-linear ramp frames	23.4%	old corpus 79% (interpolated)
stationary frames (joint speed < 0.5 deg/s)	39.2%	RMI stop-and-go corpus 39%
stationary run length p50 / p90 / max (frames)	10 / 50 / 88	a run >= 30 is a whole ACT chunk
frames inside stationary runs >= 30	21.5%	hover fixed point; was 21%
'stay put' 30-row action chunks	15.7%	label ambiguity at rest; was 15%
joint speed p50 / p90 / max (deg/s)	4.2 / 51.0 / 80.9

Grasp geometry	value	note
episodes with a close / release	100 / 100
close above descent bottom p50 / p90 / max (mm)	0.06 / 0.10 / 0.15	old corpus 35.1 mm in 99/99; limit 3
frames at depth before the close p50 / p90 / max	13 / 13 / 14	the settle before grip
z at close p50 / p90 / max (mm)	-126.5 / -126.5 / -126.5
z at release p50 / p90 / max (mm)	-125.0 / -125.0 / -125.0

Placement (x, y at the close)	value
closes measured	100
x range (mm)	[159.4, 465.14]
y range (mm)	[343.42, 536.02]
inside the randomiser region	100%

Sync and yield (collection_stats.jsonl)	value	note
yield (kept / attempts)	100 / 102 = 98%
discards	{'unknown': 2}
repaired frame ticks (total, episodes)	1, 1	duplicated frames over a sampler hole
pose cadence p50 / p90 / max (ms)	8.00 / 8.00 / 8.00	8.00 nominal
pose worst gap p50 / p90 / max (ms)	8.0 / 8.0 / 24.0	recorder refuses > 40 under a frame
pose sequence gaps	3
pose receive jitter p50 / p90 / max (ms)	9.6 / 14.8 / 21.4	absorbed by the controller clock
close above depth p50 / p90 / max (mm)	0.06 / 0.10 / 0.15	recorder refuses > 3
depth lead before close p50 / p90 / max (ms)	433 / 433 / 466
inter-camera skew p50 / p90 / max (ms)	50 / 51 / 53	recorder refuses > 100
wrist camera vs pose lag median /	median	/ max

Camera	files	frames	rows	match	brightness median	clipped
observation.images.gripper	3	62850	62850	True	42	0.06%
observation.images.cam0	5	62850	62850	True	131	1.70%
observation.images.cam1	7	62850	62850	True	35	1.15%
observation.images.cam2	7	62850	62850	True	20	2.31%

Flags: stationary frames 39.2% > 30.0%; frames in stationary runs >= 30 21.5% > 10.0%; stay-put 30-row chunks 15.7% > 5.0%; pose stream sequence gaps: 3; observation.images.cam1: median brightness 35; observation.images.cam2: median brightness 20

• Homepage: [More Information Needed]
• Paper: [More Information Needed]
• License: apache-2.0

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "fps": 30,
    "features": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
                13
            ],
            "names": [
                "J1",
                "J2",
                "J3",
                "J4",
                "J5",
                "J6",
                "x",
                "y",
                "z",
                "W",
                "P",
                "R",
                "gripper"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                13
            ],
            "names": [
                "J1",
                "J2",
                "J3",
                "J4",
                "J5",
                "J6",
                "x",
                "y",
                "z",
                "W",
                "P",
                "R",
                "gripper"
            ]
        },
        "observation.images.gripper": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": 12,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {},
                "is_depth_map": false
            }
        },
        "observation.images.cam0": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": 12,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {},
                "is_depth_map": false
            }
        },
        "observation.images.cam1": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": 12,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {},
                "is_depth_map": false
            }
        },
        "observation.images.cam2": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": 12,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {},
                "is_depth_map": false
            }
        },
        "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": 100,
    "total_frames": 62850,
    "total_tasks": 1,
    "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": "fanuc_crx5ia",
    "splits": {
        "train": "0:100"
    }
}

Citation

BibTeX:

[More Information Needed]