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observation.states.end_effector
list
observation.states.joint_position
list
actions.joint_position
list
timestamp
float32
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9.6
frame_index
int64
0
288
episode_index
int64
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95
index
int64
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11.5k
task_index
int64
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[ 0.053673356771469116, 0.08266574889421463, -0.14420953392982483, -1.584662914276123, -0.021427389234304428, 1.8115819692611694, -0.10432618856430054, 1 ]
1.2
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1
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[ 0.5912796854972839, -0.061771001666784286, 0.6068140864372253, 3.132845163345337, -0.12436004728078842, -0.020083824172616005 ]
[ 0.02271849475800991, 0.0749412402510643, -0.13367018103599548, -1.5546400547027588, 0.012608814053237438, 1.7535511255264282, -0.0908476710319519, 0.5506607890129089 ]
[ 0.05368916690349579, 0.11016880720853806, -0.1426757127046585, -1.5694164037704468, -0.027549810707569122, 1.8222613334655762, -0.09519900381565094, 1 ]
1.233333
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[ 0.5963876843452454, -0.05669468268752098, 0.5998439788818359, 3.1165709495544434, -0.1313219666481018, -0.006047144066542387 ]
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[ 0.061282530426979065, 0.15448442101478577, -0.13810443878173828, -1.5343351364135742, -0.06253977864980698, 1.8572968244552612, -0.048029858618974686, 1 ]
1.266667
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1
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End of preview. Expand in Data Studio

benchmark1_0_release_franka_3rgb_open_cap_trash_can_1

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: 打开垃圾桶盖part_1 total_episodes: 96 total_tasks: 1 size: 235.2M

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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