Search is not available for this dataset
action listlengths 6 6 | observation.state listlengths 6 6 | timestamp float32 0 22.5 | frame_index int64 0 676 | episode_index int64 0 620 | index int64 0 178k | task_index int64 0 9 |
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End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Composition
Merged from 11 source datasets (621 episodes / 177661 frames) using lerobot.datasets.aggregate.aggregate_datasets.
Episode indices are assigned in the order listed below.
Notes
- Large cube (5 cm) = categories 1–2, small cube (2 cm) = categories 3–4.
- teleop = human teleoperation, dagger = DAgger rollouts of
MolmoAct2policies with human intervention. - The 6 dagger sources carry an extra
intervention(bool) feature. It was dropped during the merge so all 11 sources share one schema — matching the convention of the earliermerged_*datasets in this namespace. - Tasks from all sources were unified into 10 task strings (5 colors x large/small cube).
Dataset Structure
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"shape": [
6
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
]
},
"observation.images.wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"is_depth_map": false,
"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": {}
}
},
"observation.images.top": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
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"splits": {
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}
}
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