Datasets:

mddoai
/

openarm_2026-05-14_clean

observation.state list	action list	timestamp float32 0 111	frame_index int64 0 1.66k	index int64 0 39.6k	task_index int64 0 66
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[ -0.6458954811096191, -0.39541712403297424, 0.5508842468261719, 1.1705513000488281, -0.2541906237602234, -0.5973488092422485, 0.04725487530231476, 0, -0.00019073777366429567, 0.7998092770576477, -0.00019073777366429567, 1.75, -0.00019073777366429567, -0.00019073777366429567, -0.0001907377...	[ -0.7002707719802856, -0.4002656936645508, 0.5360087156295776, 1.179286003112793, -0.3109031915664673, -0.648285984992981, 0.17131762206554413, 0.000003204540689694113, 0.008999228477478027, 0.7867206335067749, -0.001299088355153799, 1.7399399280548096, -0.009778128005564213, 0.005899425595...	6.6	99	99	4

End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "bi_openarm",
    "total_episodes": 89,
    "total_frames": 39644,
    "total_tasks": 67,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 15,
    "splits": {
        "train": "0:89"
    },
    "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",
    "features": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
                16
            ],
            "names": [
                "openarm_left_joint1",
                "openarm_left_joint2",
                "openarm_left_joint3",
                "openarm_left_joint4",
                "openarm_left_joint5",
                "openarm_left_joint6",
                "openarm_left_joint7",
                "openarm_left_gripper",
                "openarm_right_joint1",
                "openarm_right_joint2",
                "openarm_right_joint3",
                "openarm_right_joint4",
                "openarm_right_joint5",
                "openarm_right_joint6",
                "openarm_right_joint7",
                "openarm_right_gripper"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                16
            ],
            "names": [
                "openarm_left_joint1",
                "openarm_left_joint2",
                "openarm_left_joint3",
                "openarm_left_joint4",
                "openarm_left_joint5",
                "openarm_left_joint6",
                "openarm_left_joint7",
                "openarm_left_gripper",
                "openarm_right_joint1",
                "openarm_right_joint2",
                "openarm_right_joint3",
                "openarm_right_joint4",
                "openarm_right_joint5",
                "openarm_right_joint6",
                "openarm_right_joint7",
                "openarm_right_gripper"
            ]
        },
        "observation.images.base": {
            "dtype": "video",
            "shape": [
                3,
                480,
                640
            ],
            "names": [
                "channels",
                "height",
                "width"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 15,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.right_wrist": {
            "dtype": "video",
            "shape": [
                3,
                480,
                640
            ],
            "names": [
                "channels",
                "height",
                "width"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 15,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.left_wrist": {
            "dtype": "video",
            "shape": [
                3,
                480,
                640
            ],
            "names": [
                "channels",
                "height",
                "width"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 15,
                "video.channels": 3,
                "has_audio": 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",
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                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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Models trained or fine-tuned on mddoai/openarm_2026-05-14_clean