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observation.states.end_effector
list
observation.states.joint_position
list
actions.joint_position
list
timestamp
float32
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5.2
frame_index
int64
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156
episode_index
int64
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113
index
int64
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13.5k
task_index
int64
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[ 0.5418938994407654, 0.01098500657826662, 0.6245652437210083, 3.138185977935791, -0.057264529168605804, 0.08229619264602661 ]
[ 0.18547455966472626, -0.06509873270988464, -0.15809322893619537, -1.6604950428009033, -0.010540054179728031, 1.6535694599151611, -0.05421170964837074, 0 ]
[ 0.1350107043981552, -0.09663818031549454, -0.17639076709747314, -1.7149689197540283, 0.09938094019889832, 1.6398406028747559, -0.28667905926704407, 0 ]
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End of preview. Expand in Data Studio

benchmark1_2_release_franka_3rgb_241223_upright_cup

This dataset converts the Robomain format uniformly into LeRobot V3.0.

Dataset Statistics

本体: franka_3rgb 末端执行器: 夹爪 任务平台显示版: 直立杯子 total_episodes: 114 total_tasks: 1 size: 160.1M

Dataset Structure

├── data
│   └── chunk-xxx
│       ├── file-xxx.parquet
├── images
│   └── observation.images.camera_top
├── meta
│   ├── episodes
│   │   └── chunk-xxx
│   │       └── file-xxx.parquet
│   ├── info.json
│   ├── stats.json
│   └── tasks.parquet
└── videos
    └── observation.images.camera_top
        └── chunk-xxx
            ├── file-xxx.mp4

Contributors and Links

This dataset is contributed by: https://huggingface.co/datasets/x-humanoid-robomind/RoboMIND/tree/main

DataCube Team

Homepage:

🔑 License

本数据集遵循 Creative Commons Attribution 4.0 International (CC BY 4.0) 协议。仅用于科研学习,不得用于商业化使用。

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