Datasets:
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action list | observation.state list | timestamp float32 0 57.9 | frame_index int64 0 1.74k | episode_index int64 0 75 | index int64 0 78.3k | task_index int64 0 0 |
|---|---|---|---|---|---|---|
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16.791208267211914,
-15.648351669311523,
14.98901081085205,
9.647372245788574
] | 3.233333 | 97 | 0 | 97 | 0 |
[
-68.21977996826172,
-1.582417607307434,
14.10988998413086,
-16.571428298950195,
26.329669952392578,
1.0325654745101929
] | [
-68.70330047607422,
2.549450635910034,
16.791208267211914,
-15.648351669311523,
17.450550079345703,
9.647372245788574
] | 3.266667 | 98 | 0 | 98 | 0 |
[
-68.21977996826172,
-1.582417607307434,
14.10988998413086,
-16.571428298950195,
28.879121780395508,
1.0325654745101929
] | [
-68.70330047607422,
2.549450635910034,
16.791208267211914,
-15.648351669311523,
19.91208839416504,
9.647372245788574
] | 3.3 | 99 | 0 | 99 | 0 |
End of preview. Expand in Data Studio
main-liquid3 — Variant B
LeRobot v3.0 dataset containing the second segment of each retained episode from
maitf/main-liquid3.
The demonstrations use an SO-101 follower arm to pick up a cup containing water, pour it over a pan, and place it on the table with the help of a stick. Variant B starts at the manually selected boundary frame for each episode and continues to the end of that episode.
Dataset summary
- 76 episodes and 78,297 frames
- 30 FPS
- Two 640×480 RGB cameras:
observation.images.topdownandobservation.images.wrist - SO-101 action and observation state, each with six joints
- Original source episode 74 was removed; source episodes 75 and 76 are reindexed here as episodes 74 and 75
- Apache-2.0 license, inherited from the source dataset
See SPLIT_PROVENANCE.json for every split frame and the
mapping from this dataset's episode indices to the source episode indices.
Loading with LeRobot
from lerobot.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset("maitf/main-liquid3-variant-b")
The exported Parquet rows, timestamps, episode metadata, statistics, and all MP4 shards were validated locally before upload.
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