schema_version int64 | dataset_repo_id string | dataset_total_frames int64 | valid_sample_count int64 | invalid_sample_count int64 | valid_index_ranges list | state_history_offsets list | action_chunk int64 | contract list | recovery_source_revision string | recovery_source_rule null | episodes list |
|---|---|---|---|---|---|---|---|---|---|---|---|
3 | local/realrobot-plug93-recovery-v2 | 104,310 | 97,717 | 6,593 | [
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"state/image/tactile history may touch a rejected action interva... | dfd27a1703f1e93c923066c61c5595d67bbb8650 | null | [
{
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"final_episode_index": 76,
"source_file": "episode_00.h5",
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"frames": 2542,
"valid_samples": 2116,
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"valid_policy_samples": 2016,
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"valid_mixed... |
Franka real-robot plug D93 recovery-v2
Final public LeRobot v3 dataset for the Franka plug-insertion SmolVLA project.
Repository: tliangucl/realrobot-plug93-recovery-v2.
- 93 episodes
- 104,310 frames
- 97,717 valid training centers
- image-in-Parquet storage
- two RGB cameras, GelSight force grid, 11-D state, and 7-D delta action
The authoritative training mask is meta/training_sample_mask.json. The exact
conversion and aggregation lineage is recorded in
meta/realrobot_conversion.json. episode_15_mix.h5 is excluded from the final
recovery source set.
Training and validation code lives in the companion model repository
tliangucl/realrobot-plug-smolvla under training_pipeline/.
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