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observation.states.end_effector
list
observation.states.joint_position
list
actions.joint_position
list
timestamp
float32
0
15.3
frame_index
int64
0
459
episode_index
int64
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100
index
int64
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15k
task_index
int64
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[ 0.09364999085664749, -0.004568155854940414, -0.0659613236784935, -1.6644283533096313, -0.08133476227521896, 1.6029634475708008, 0.13511504232883453, 4.575113929678124e-37 ]
3.2
96
0
96
0
[ 0.5774846076965332, 0.01136336475610733, 0.574428379535675, 3.0057013034820557, 0.04630494862794876, -0.14479900896549225 ]
[ 0.10735518485307693, 0.07862062007188797, -0.06847885251045227, -1.589171290397644, -0.11981040239334106, 1.5969970226287842, 0.18792377412319183, 0 ]
[ 0.07838719338178635, -0.004601604305207729, -0.06596117466688156, -1.662851095199585, -0.07978267967700958, 1.6090840101242065, 0.13499155640602112, 4.5751133691587385e-39 ]
3.233333
97
0
97
0
[ 0.5690118670463562, 0.010313416831195354, 0.581829309463501, 3.0218708515167236, 0.041144661605358124, -0.13293768465518951 ]
[ 0.10486304014921188, 0.04922914505004883, -0.06851822137832642, -1.6087923049926758, -0.10774584114551544, 1.5969780683517456, 0.17290569841861725, 0 ]
[ 0.07671592384576797, -0.004601939115673304, -0.06596117466688156, -1.6628353595733643, -0.07521123439073563, 1.6091452836990356, 0.13499031960964203, 4.575099356174095e-41 ]
3.266667
98
0
98
0
[ 0.5640449523925781, 0.006338468287140131, 0.5875411629676819, 3.028857707977295, 0.034380778670310974, -0.13227277994155884 ]
[ 0.09803977608680725, 0.03143830597400665, -0.06861879676580429, -1.6178807020187378, -0.10360865294933319, 1.5969765186309814, 0.16515576839447021, 0 ]
[ 0.07518056780099869, -0.004601942375302315, -0.06596117466688156, -1.6628351211547852, -0.07060959935188293, 1.6091458797454834, 0.1258784681558609, 4.568232993698904e-43 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

benchmark1_0_release_franka_3rgb_place_in_bread_in_bread_machine

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: 将面包放入面包机 total_episodes: 101 total_tasks: 1 size: 573.6M

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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