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episode_index int64 | frame_index int64 | timestamp float64 | observation.state list | observation.images.wrist_camera list | action list | next.done bool | next.success bool |
|---|---|---|---|---|---|---|---|
0 | 0 | 1,756,993,164.097295 | [
-0.16262742376407702,
1.0872901409117572,
-0.9060670251872756,
0.7144301077960877,
0.015
] | [[[212,181,75,158,154,18,220,100,42,196,107,129,197,65,150,149,195,99,245,210,91,169,18,6,10,16,207,(...TRUNCATED) | [
-0.16262742376407702,
1.0872901409117572,
-0.9060670251872756,
0.7144301077960877,
-0.008
] | false | false |
0 | 1 | 1,756,993,164.130629 | [
-0.026491808947680485,
0.47342437016086336,
-0.5189710228344839,
0.4981273530268107,
-0.008
] | [[[63,235,236,118,39,117,2,171,113,251,165,15,111,128,156,201,104,164,253,221,111,210,75,30,28,112,1(...TRUNCATED) | [
-0.026491808947680485,
0.47342437016086336,
-0.5189710228344839,
0.4981273530268107,
-0.008
] | true | true |
1 | 0 | 1,756,993,164.097295 | [
0.8900852363910494,
0.5680430669464738,
-0.3255242278371324,
0.2214870466933878,
0.015
] | [[[0,239,19,28,125,73,46,37,133,142,22,200,167,76,39,172,33,241,37,13,203,191,158,52,23,163,183,47,1(...TRUNCATED) | [
0.8900852363910494,
0.5680430669464738,
-0.3255242278371324,
0.2214870466933878,
-0.008
] | false | false |
1 | 1 | 1,756,993,164.130629 | [
0.03840830887077737,
0.5377614200942238,
-0.5892472146483219,
0.42130735539891495,
-0.008
] | [[[201,40,238,183,83,60,228,146,144,88,148,150,112,154,169,144,23,166,65,164,83,74,145,217,184,171,1(...TRUNCATED) | [
0.03840830887077737,
0.5377614200942238,
-0.5892472146483219,
0.42130735539891495,
-0.008
] | true | true |
2 | 0 | 1,756,993,164.097295 | [
-1.276985713916221,
0.78683727492103,
-0.6784409181684381,
-0.17469148065356316,
0.015
] | [[[74,195,67,157,211,197,179,223,52,239,236,139,170,137,19,188,6,246,207,23,148,19,41,99,236,60,143,(...TRUNCATED) | [
-1.276985713916221,
0.78683727492103,
-0.6784409181684381,
-0.17469148065356316,
-0.008
] | false | false |
2 | 1 | 1,756,993,164.130629 | [
0.03132578352925837,
0.5017421408332275,
-0.547812958825006,
0.4657468702319431,
-0.008
] | [[[77,142,40,53,7,152,122,17,197,126,71,36,231,167,89,16,16,127,196,195,38,36,100,167,150,244,71,35,(...TRUNCATED) | [
0.03132578352925837,
0.5017421408332275,
-0.547812958825006,
0.4657468702319431,
-0.008
] | true | true |
OpenManipulator-X Dataset for SmolVLA Fine-tuning
This dataset contains demonstrations for the OpenManipulator-X 5-DOF robot arm.
Dataset Details
- Robot: OpenManipulator-X (5-DOF)
- Camera: Single RGB+Depth (4-channel)
- Task: Random object manipulation/grasping
- Format: LeRobot v2.1 (Parquet + metadata)
Usage
from lerobot.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset("Hotteok/openmanipulator_fixed_timestamps")
Training
lerobot-train \
--policy.type smolvla \
--dataset.repo_id Hotteok/openmanipulator_fixed_timestamps \
--policy.max_state_dim 5 \
--policy.max_action_dim 5
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