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observation.states.end_effector
list
observation.states.joint_position
list
actions.joint_position
list
timestamp
float32
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9.97
frame_index
int64
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299
episode_index
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96
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28.9k
task_index
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[ 0.6797862648963928, 0.028250837698578835, 0.3909706771373749, 3.079869270324707, -0.05034583434462547, -0.00016502442304044962 ]
[ -0.08887402713298798, 0.43141594529151917, 0.16249002516269684, -1.59321129322052, -0.15005475282669067, 2.061821460723877, 0.1271589994430542, 0.8942731022834778 ]
[ -0.09509146958589554, 0.38047388195991516, 0.1580001711845398, -1.5846176147460938, -0.1534135788679123, 2.0019073486328125, 0.13959240913391113, 1 ]
3.3
99
0
99
0
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benchmark1_0_release_franka_3rgb_close_cap_tool_box

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: 盖上工具箱盖 total_episodes: 97 total_tasks: 1 size: 381.8M

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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