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float32
0
57.3
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int64
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1.72k
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int64
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253
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int64
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187k
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3.3
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End of preview. Expand in Data Studio

ur3-merged-5tasks-v2

A multi-task UR3 manipulation dataset in LeRobot v2.1 format, merged from five source datasets covering pick-and-place, unstacking, multi-item sorting, and pushing primitives.

Tasks

task_index description
0 pick up the pink cylinder and place it in the orange box
1 pick up the white glass and put on a brown coaster
2 Remove cup from nested cups
3 pick multiple items then put in the orange basket
4 Single-finger push to blue marker

Source datasets

This dataset was assembled by merging the following:

The schema, fps, and camera configuration follow the base dataset.

Format

  • LeRobot v2.1
  • Robot: UR3
  • One parquet file per episode under data/chunk-*/
  • One mp4 file per camera per episode under videos/chunk-*/<camera>/
  • Episode metadata in meta/episodes.jsonl, task list in meta/tasks.jsonl, per-episode stats in meta/episodes_stats.jsonl

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from lerobot.common.datasets.lerobot_dataset import LeRobotDataset

ds = LeRobotDataset("zestcode5/ur3-merged-5tasks-v2")
print(ds.num_episodes, ds.num_frames, ds.fps)
sample = ds[0]
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