Datasets:
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observation.images.camera_center_depth image | observation.images.camera_left_depth image | observation.images.camera_right_depth image | observation.camera_extrinsics list | observation.camera_intrinsics list | observation.state list | observation.critic_state list | action list | action_joint list | action_ik list | observation.previous_control_source int64 | action.control_source int64 | action.bc_expert_label_valid bool | action.policy_action_valid bool | action.policy_space int64 | action.policy_executed_joint list | action.policy_executed_ik list | transition.interval_expert_fraction float32 | transition.interval_human_fraction float32 | transition.interval_policy_fraction float32 | transition.interval_scripted_fraction float32 | transition.control_switched bool | transition.human_takeover bool | transition.policy_takeover bool | transition.recovery_after_policy bool | next.reward float32 | next.done bool | observation.target_pose list | observation.absolute_ee_pose list | observation.joint_pos list | observation.joint_vel list | timestamp float32 | frame_index int64 | episode_index int64 | index int64 | task_index int64 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
bp-e03-mixed_data-dpred74f665-10hz
SBR Dataset Description
This dataset is about a 1/3 of human teleop data, 1/3 of noisy synthetic, 1/3 pure synthetic
Dataset Summary
| Field | Value |
|---|---|
| Dataset name | bp-e03-mixed_data-dpred74f665-10hz |
| Dataset ID | dpred74f665 |
| Environment | bp-e03 |
| Semantic label | — |
| Episodes | 1892 |
| Frames | 85933 |
| Average episode | 4.54 s (45.4 frames) |
| Total duration | 143.22 min |
| FPS | 10 |
| Data mode | bc_expert |
| Privileged state | yes |
| Raw source sessions | 12 |
| Lineage origin | legacy_prelineage |
Distinct Session Sources
Numeric raw-session IDs such as s0000/s0001 are intentionally collapsed here.
| Source | Raw sessions | Raw episodes | Origin |
|---|---|---|---|
| bp-e03__legacy_prelineage | 9 | — | legacy_prelineage |
| bp-e03__synthetic_native | 3 | — | synthetic_native |
Feature / Render Metadata
| Field | Value |
|---|---|
| Policy state dim | 182 |
| Critic state dim | 232 |
| Action dims | ee_pose=22, ik=16, joint=20 |
| Minimum segment frames | 5 |
| Reward recalculated | False |
Lineage
Machine-readable provenance is stored in dataset_lineage.json.
The handwritten description is annotation only and does not participate in dataset_id.
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