Datasets:
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left_wrist_cam_0 imagewidth (px) 224 224 | left_wrist_cam_1 imagewidth (px) 224 224 | right_wrist_cam_0 imagewidth (px) 224 224 | right_wrist_cam_1 imagewidth (px) 224 224 | state list | eef_state list | actions list | timestamp float32 0 38.5 | frame_index int64 0 578 | episode_index int64 0 135 | index int64 0 19.2k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Description
Data Distribution Overview
This figure summarizes the data distribution of the ywxia/fold_old_gt dataset, auto-generated after each conversion via analysis/postprocess_with_overview.py. It shows episode-length distribution, the 3-D EEF workspace, per-dimension state histograms, per-arm action magnitudes, and a sample of frames from each camera.
Task: fold the box on the desk
Episodes: 274 | Frames: 36231 | FPS: 15 | Robot: custom_eef
Gripper Data Distribution
Raw exported action-space gripper channels:
| Arm | Action dim | Mean | Std | Min | Max | Median | P99 | Exact zero |
|---|---|---|---|---|---|---|---|---|
| left | 6 | 1.0000 | 0.0000 | 1.0000 | 1.0000 | 1.0000 | 1.0000 | 0.0% |
| right | 13 | 1.0000 | 0.0000 | 1.0000 | 1.0000 | 1.0000 | 1.0000 | 0.0% |
These numbers are computed from the raw dataset action channels before any ACT delta or rot6d transforms.
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "custom_eef",
"total_episodes": 274,
"total_frames": 36231,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:274"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
"left_wrist_cam_0": {
"dtype": "image",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channel"
]
},
"left_wrist_cam_1": {
"dtype": "image",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channel"
]
},
"right_wrist_cam_0": {
"dtype": "image",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channel"
]
},
"right_wrist_cam_1": {
"dtype": "image",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channel"
]
},
"state": {
"dtype": "float32",
"shape": [
7
],
"names": [
"state"
]
},
"eef_state": {
"dtype": "float32",
"shape": [
14
],
"names": [
"eef_state"
]
},
"actions": {
"dtype": "float32",
"shape": [
14
],
"names": [
"actions"
]
},
"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
BibTeX:
[More Information Needed]
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