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observation.states.end_effector
list
observation.states.joint_position
list
actions.joint_position
list
timestamp
float32
0
7.8
frame_index
int64
0
234
episode_index
int64
0
234
index
int64
0
28.5k
task_index
int64
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3
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3.266667
98
0
98
0
[ 0.7418874502182007, 0.07981297373771667, 0.5498426556587219, 3.1074798107147217, -0.9679848551750183, 0.1395127922296524 ]
[ 0.31939902901649475, 0.48685717582702637, -0.25859105587005615, -1.4024276733398438, 0.25295063853263855, 2.83876633644104, -0.1710890829563141, 0.9251101613044739 ]
[ 0.33296602964401245, 0.3930092751979828, -0.2638445496559143, -1.4879268407821655, 0.26691263914108276, 2.6549429893493652, -0.15800002217292786, 0.9190598726272583 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

benchmark1_1_release_franka_3rgb_side_pull_drawer

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: 侧拉抽屉 total_episodes: 235 total_tasks: 1 size: 467.1M

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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