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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 | 1,756,988,924.090663 | [
-0.4866358852007049,
0.9955497046761661,
-0.6591552907847608,
-0.29785898123534826,
0.015
] | [[[205,164,134,121,95,76,178,69,207,65,23,36,59,67,236,112,145,104,83,49,143,222,99,226,74,228,123,1(...TRUNCATED) | [
-0.4866358852007049,
0.9955497046761661,
-0.6591552907847608,
-0.29785898123534826,
-0.008
] | false | false |
0 | 1 | 1,756,988,976.894486 | [
-0.02699650541240057,
0.47420042056651074,
-0.5437821615264081,
0.47606867308943346,
-0.008
] | [[[172,38,72,70,169,236,202,99,211,215,37,201,69,32,152,82,32,69,83,212,223,241,60,14,251,155,52,47,(...TRUNCATED) | [
-0.02699650541240057,
0.47420042056651074,
-0.5437821615264081,
0.47606867308943346,
-0.008
] | true | true |
1 | 0 | 1,756,988,977.096217 | [
1.1583924576878433,
0.75659457552204,
-0.44862542388910587,
-0.11426558903450873,
0.015
] | [[[35,75,197,20,216,160,23,118,146,60,69,9,34,7,184,29,182,176,218,191,228,149,162,62,133,76,65,211,(...TRUNCATED) | [
1.1583924576878433,
0.75659457552204,
-0.44862542388910587,
-0.11426558903450873,
-0.008
] | false | false |
1 | 1 | 1,756,989,029.445311 | [
-0.0077464033800654876,
0.5216253356849835,
-0.5814801200964277,
0.4317557829877908,
-0.008
] | [[[215,149,181,11,103,43,254,243,4,46,200,66,31,134,62,164,135,148,145,227,15,241,37,50,164,84,222,1(...TRUNCATED) | [
-0.0077464033800654876,
0.5216253356849835,
-0.5814801200964277,
0.4317557829877908,
-0.008
] | true | true |
2 | 0 | 1,756,989,029.643722 | [
-1.4676986538708794,
0.4845769828136124,
-1.195250417493599,
0.5654769296806093,
0.015
] | [[[114,207,178,138,108,42,87,126,224,226,14,116,127,92,254,153,143,32,85,19,220,143,134,119,100,244,(...TRUNCATED) | [
-1.4676986538708794,
0.4845769828136124,
-1.195250417493599,
0.5654769296806093,
-0.008
] | false | false |
2 | 1 | 1,756,989,081.563752 | [
-0.021098121249311857,
0.3604697866784548,
-0.4631013014385148,
0.5784711787130942,
-0.008
] | [[[155,215,209,151,134,49,221,172,86,130,77,48,54,8,231,188,114,54,180,252,96,71,50,34,22,51,100,155(...TRUNCATED) | [
-0.021098121249311857,
0.3604697866784548,
-0.4631013014385148,
0.5784711787130942,
-0.008
] | true | true |
3 | 0 | 1,756,989,081.74961 | [
0.605823617362748,
1.072597755409279,
-0.8003818966722419,
-0.2825617061492707,
0.015
] | [[[7,128,128,220,208,224,235,183,117,96,123,39,41,74,63,187,93,114,13,215,39,52,76,50,81,155,142,131(...TRUNCATED) | [
0.605823617362748,
1.072597755409279,
-0.8003818966722419,
-0.2825617061492707,
-0.008
] | false | false |
3 | 1 | 1,756,989,133.69566 | [
0.02123455752385509,
0.5465633550397824,
-0.5771059048522615,
0.4296764599644688,
-0.008
] | [[[137,103,218,213,13,10,3,90,24,174,230,87,209,216,116,80,62,247,208,190,19,238,198,85,155,103,153,(...TRUNCATED) | [
0.02123455752385509,
0.5465633550397824,
-0.5771059048522615,
0.4296764599644688,
-0.008
] | true | true |
4 | 0 | 1,756,989,133.881423 | [
0.623537379623714,
1.186229741692121,
-0.7368849857248021,
0.7340312334374006,
0.015
] | [[[52,92,164,208,69,125,133,158,98,177,222,174,109,246,133,120,120,215,5,58,179,10,20,120,253,150,19(...TRUNCATED) | [
0.623537379623714,
1.186229741692121,
-0.7368849857248021,
0.7340312334374006,
-0.008
] | false | false |
4 | 1 | 1,756,989,185.914205 | [
0.010790220592110954,
0.5329627732411416,
-0.5587870402729845,
0.448669066629821,
-0.008
] | [[[190,17,199,135,189,130,215,19,27,17,179,160,197,250,113,4,123,222,174,21,39,28,30,108,139,136,89,(...TRUNCATED) | [
0.010790220592110954,
0.5329627732411416,
-0.5587870402729845,
0.448669066629821,
-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_session_122843")
Training
lerobot-train \
--policy.type smolvla \
--dataset.repo_id Hotteok/openmanipulator_session_122843 \
--policy.max_state_dim 5 \
--policy.max_action_dim 5
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