Task Parameter Extrapolation - Simulation Dataset
Collection
[RA-L 2026] Datasets for object extrapolation in the simulation experiment. • 24 items • Updated
Datasets:
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "xArm7",
"total_episodes": 80,
"total_frames": 16000,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:80"
},
"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": {
"action": {
"dtype": "float32",
"shape": [
16
],
"names": [
"Forward Joint 1",
"Forward Joint 2",
"Forward Joint 3",
"Forward Joint 4",
"Forward Joint 5",
"Forward Joint 6",
"Forward Joint 7",
"Forward Gripper",
"Inverse Joint 1",
"Inverse Joint 2",
"Inverse Joint 3",
"Inverse Joint 4",
"Inverse Joint 5",
"Inverse Joint 6",
"Inverse Joint 7",
"Inverse Gripper"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
1
],
"names": [
"Progress"
]
},
"observation.environment_state": {
"dtype": "float32",
"shape": [
76
],
"names": [
"Position",
"Reduced_Image_Dim_0",
"Reduced_Image_Dim_1",
"Reduced_Image_Dim_2",
"Reduced_Image_Dim_3",
"Reduced_Image_Dim_4",
"Reduced_Image_Dim_5",
"Reduced_Image_Dim_6",
"Reduced_Image_Dim_7",
"Reduced_Image_Dim_8",
"Reduced_Image_Dim_9",
"Reduced_Image_Dim_10",
"Reduced_Image_Dim_11",
"Reduced_Image_Dim_12",
"Reduced_Image_Dim_13",
"Reduced_Image_Dim_14",
"Reduced_Image_Dim_15",
"Reduced_Image_Dim_16",
"Reduced_Image_Dim_17",
"Reduced_Image_Dim_18",
"Reduced_Image_Dim_19",
"Reduced_Image_Dim_20",
"Reduced_Image_Dim_21",
"Reduced_Image_Dim_22",
"Reduced_Image_Dim_23",
"Reduced_Image_Dim_24",
"Reduced_Image_Dim_25",
"Reduced_Image_Dim_26",
"Reduced_Image_Dim_27",
"Reduced_Image_Dim_28",
"Reduced_Image_Dim_29",
"Reduced_Image_Dim_30",
"Reduced_Image_Dim_31",
"Reduced_Image_Dim_32",
"Reduced_Image_Dim_33",
"Reduced_Image_Dim_34",
"Reduced_Image_Dim_35",
"Reduced_Image_Dim_36",
"Reduced_Image_Dim_37",
"Reduced_Image_Dim_38",
"Reduced_Image_Dim_39",
"Reduced_Image_Dim_40",
"Reduced_Image_Dim_41",
"Reduced_Image_Dim_42",
"Reduced_Image_Dim_43",
"Reduced_Image_Dim_44",
"Reduced_Image_Dim_45",
"Reduced_Image_Dim_46",
"Reduced_Image_Dim_47",
"Reduced_Image_Dim_48",
"Reduced_Image_Dim_49",
"Reduced_Image_Dim_50",
"Reduced_Image_Dim_51",
"Reduced_Image_Dim_52",
"Reduced_Image_Dim_53",
"Reduced_Image_Dim_54",
"Reduced_Image_Dim_55",
"Reduced_Image_Dim_56",
"Reduced_Image_Dim_57",
"Reduced_Image_Dim_58",
"Reduced_Image_Dim_59",
"Reduced_Image_Dim_60",
"Reduced_Image_Dim_61",
"Reduced_Image_Dim_62",
"Reduced_Image_Dim_63",
"Reduced_Image_Dim_64",
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"Reduced_Image_Dim_67",
"Reduced_Image_Dim_68",
"Reduced_Image_Dim_69",
"Reduced_Image_Dim_70",
"Reduced_Image_Dim_71",
"Reduced_Image_Dim_72",
"Reduced_Image_Dim_73",
"Reduced_Image_Dim_74"
]
},
"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
}
}
}
Citation
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