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Datasets:
JackLiu0406
/
roboreal_lerobot

Tasks:
Robotics
Modalities:
Text
Tags:
lerobot
roboreal
robopro
camera-extrinsics
camera-intrinsics
License:
Dataset card Data Studio Files
xet
 Community
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The full dataset viewer is not available (click to read why). Only showing a preview of the rows.
The dataset generation failed
Error code:   DatasetGenerationError
Exception:    CastError
Message:      Couldn't cast
episode_index: int64
stats: struct<action: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double>, st (... 1946 chars omitted)
  child 0, action: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double>, std: list<item: d (... 33 chars omitted)
      child 0, min: list<item: double>
          child 0, item: double
      child 1, max: list<item: double>
          child 0, item: double
      child 2, mean: list<item: double>
          child 0, item: double
      child 3, std: list<item: double>
          child 0, item: double
      child 4, count: list<item: int64>
          child 0, item: int64
  child 1, observation.state: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double>, std: list<item: d (... 33 chars omitted)
      child 0, min: list<item: double>
          child 0, item: double
      child 1, max: list<item: double>
          child 0, item: double
      child 2, mean: list<item: double>
          child 0, item: double
      child 3, std: list<item: double>
          child 0, item: double
      child 4, count: list<item: int64>
          child 0, item: int64
  child 2, task_index: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double>, std: list<item: d (... 33 chars omitted)
      child 0, min: list<item: double>
          child 0, item: double
      child 1, max: list<item: double>
          child 0, item: double
      child 2, mean: list<item: double>
        
...
(... 33 chars omitted)
      child 0, min: list<item: double>
          child 0, item: double
      child 1, max: list<item: double>
          child 0, item: double
      child 2, mean: list<item: double>
          child 0, item: double
      child 3, std: list<item: double>
          child 0, item: double
      child 4, count: list<item: int64>
          child 0, item: int64
  child 11, observation.countertop.extrinsic_cv: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double>, std: list<item: d (... 33 chars omitted)
      child 0, min: list<item: double>
          child 0, item: double
      child 1, max: list<item: double>
          child 0, item: double
      child 2, mean: list<item: double>
          child 0, item: double
      child 3, std: list<item: double>
          child 0, item: double
      child 4, count: list<item: int64>
          child 0, item: int64
  child 12, observation.countertop.intrinsic_cv: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double>, std: list<item: d (... 33 chars omitted)
      child 0, min: list<item: double>
          child 0, item: double
      child 1, max: list<item: double>
          child 0, item: double
      child 2, mean: list<item: double>
          child 0, item: double
      child 3, std: list<item: double>
          child 0, item: double
      child 4, count: list<item: int64>
          child 0, item: int64
length: int64
tasks: list<item: string>
  child 0, item: string
to
{'episode_index': Value('int64'), 'tasks': List(Value('string')), 'length': Value('int64')}
because column names don't match
Traceback:    Traceback (most recent call last):
                File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1816, in _prepare_split_single
                  for key, table in generator:
                                    ^^^^^^^^^
                File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 613, in wrapped
                  for item in generator(*args, **kwargs):
                              ~~~~~~~~~^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 343, in _generate_tables
                  self._cast_table(pa_table, json_field_paths=json_field_paths),
                  ~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 132, in _cast_table
                  pa_table = table_cast(pa_table, self.info.features.arrow_schema)
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2369, in table_cast
                  return cast_table_to_schema(table, schema)
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2297, in cast_table_to_schema
                  raise CastError(
                  ...<3 lines>...
                  )
              datasets.table.CastError: Couldn't cast
              episode_index: int64
              stats: struct<action: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double>, st (... 1946 chars omitted)
                child 0, action: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double>, std: list<item: d (... 33 chars omitted)
                    child 0, min: list<item: double>
                        child 0, item: double
                    child 1, max: list<item: double>
                        child 0, item: double
                    child 2, mean: list<item: double>
                        child 0, item: double
                    child 3, std: list<item: double>
                        child 0, item: double
                    child 4, count: list<item: int64>
                        child 0, item: int64
                child 1, observation.state: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double>, std: list<item: d (... 33 chars omitted)
                    child 0, min: list<item: double>
                        child 0, item: double
                    child 1, max: list<item: double>
                        child 0, item: double
                    child 2, mean: list<item: double>
                        child 0, item: double
                    child 3, std: list<item: double>
                        child 0, item: double
                    child 4, count: list<item: int64>
                        child 0, item: int64
                child 2, task_index: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double>, std: list<item: d (... 33 chars omitted)
                    child 0, min: list<item: double>
                        child 0, item: double
                    child 1, max: list<item: double>
                        child 0, item: double
                    child 2, mean: list<item: double>
                      
              ...
              (... 33 chars omitted)
                    child 0, min: list<item: double>
                        child 0, item: double
                    child 1, max: list<item: double>
                        child 0, item: double
                    child 2, mean: list<item: double>
                        child 0, item: double
                    child 3, std: list<item: double>
                        child 0, item: double
                    child 4, count: list<item: int64>
                        child 0, item: int64
                child 11, observation.countertop.extrinsic_cv: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double>, std: list<item: d (... 33 chars omitted)
                    child 0, min: list<item: double>
                        child 0, item: double
                    child 1, max: list<item: double>
                        child 0, item: double
                    child 2, mean: list<item: double>
                        child 0, item: double
                    child 3, std: list<item: double>
                        child 0, item: double
                    child 4, count: list<item: int64>
                        child 0, item: int64
                child 12, observation.countertop.intrinsic_cv: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double>, std: list<item: d (... 33 chars omitted)
                    child 0, min: list<item: double>
                        child 0, item: double
                    child 1, max: list<item: double>
                        child 0, item: double
                    child 2, mean: list<item: double>
                        child 0, item: double
                    child 3, std: list<item: double>
                        child 0, item: double
                    child 4, count: list<item: int64>
                        child 0, item: int64
              length: int64
              tasks: list<item: string>
                child 0, item: string
              to
              {'episode_index': Value('int64'), 'tasks': List(Value('string')), 'length': Value('int64')}
              because column names don't match
              
              The above exception was the direct cause of the following exception:
              
              Traceback (most recent call last):
                File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 1369, in compute_config_parquet_and_info_response
                  parquet_operations, partial, estimated_dataset_info = stream_convert_to_parquet(
                                                                        ~~~~~~~~~~~~~~~~~~~~~~~~~^
                      builder, max_dataset_size_bytes=max_dataset_size_bytes
                      ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                  )
                  ^
                File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 948, in stream_convert_to_parquet
                  builder._prepare_split(split_generator=splits_generators[split], file_format="parquet")
                  ~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1683, in _prepare_split
                  for job_id, done, content in self._prepare_split_single(
                                               ~~~~~~~~~~~~~~~~~~~~~~~~~~^
                      gen_kwargs=gen_kwargs, job_id=job_id, **_prepare_split_args
                      ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                  ):
                  ^
                File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1869, in _prepare_split_single
                  raise DatasetGenerationError("An error occurred while generating the dataset") from e
              datasets.exceptions.DatasetGenerationError: An error occurred while generating the dataset

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episode_index
int64
tasks
list
length
int64
0
[ "reposition the bottle" ]
170
1
[ "transfer the bottle" ]
146
2
[ "move the bottle" ]
165
3
[ "move the glass bottle" ]
168
4
[ "move the drink bottle" ]
144
5
[ "move the drink bottle" ]
147
6
[ "position the bottle" ]
151
7
[ "transfer the bottle" ]
172
8
[ "kindly move the bottle" ]
138
9
[ "shift the bottle" ]
141
10
[ "could you move the bottle" ]
148
11
[ "move the bottle please" ]
171
12
[ "relocate the bottle" ]
136
13
[ "move the bottle" ]
133
14
[ "shift the bottle" ]
139
15
[ "move the plastic bottle" ]
135
16
[ "move the drink bottle" ]
141
17
[ "please relocate the bottle" ]
136
18
[ "the bottle goes elsewhere" ]
140
19
[ "move the bottle" ]
140
20
[ "kindly move the bottle" ]
139
21
[ "move the plastic bottle" ]
141
22
[ "reposition the bottle" ]
138
23
[ "kindly move the bottle" ]
134
24
[ "move the bottle please" ]
164
25
[ "move the drink bottle" ]
138
26
[ "please move the bottle" ]
134
27
[ "could you move the bottle" ]
167
28
[ "move the glass bottle" ]
139
29
[ "move the bottle" ]
142
30
[ "transport the bottle" ]
164
31
[ "move the bottle please" ]
143
32
[ "move the beverage bottle" ]
141
33
[ "move the glass bottle" ]
134
34
[ "position the bottle" ]
154
35
[ "move the plastic bottle" ]
158
36
[ "move the beverage bottle" ]
141
37
[ "transfer the bottle" ]
136
38
[ "shift the bottle" ]
141
39
[ "the bottle should be moved" ]
138
40
[ "transfer the bottle" ]
167
41
[ "move the bottle to another location" ]
143
42
[ "move the bottle to another location" ]
135
43
[ "the bottle goes elsewhere" ]
135
44
[ "move the glass bottle" ]
135
45
[ "relocate the bottle" ]
139
46
[ "please move the bottle" ]
148
47
[ "kindly move the bottle" ]
232
48
[ "transfer the bottle" ]
142
49
[ "the bottle should be moved" ]
138
50
[ "shift the bottle" ]
134
51
[ "kindly move the bottle" ]
168
52
[ "move the container" ]
144
53
[ "reposition the bottle" ]
154
54
[ "the bottle goes elsewhere" ]
140
55
[ "move the bottle to another location" ]
136
56
[ "could you move the bottle" ]
138
57
[ "move the plastic bottle" ]
138
58
[ "shift the bottle" ]
144
59
[ "relocate the bottle" ]
134
60
[ "move the drink bottle" ]
159
61
[ "move the container" ]
135
62
[ "shift the bottle" ]
139
63
[ "move the drink bottle" ]
134
64
[ "transfer the bottle" ]
135
65
[ "the bottle should be moved" ]
146
66
[ "move the glass bottle" ]
138
67
[ "please move the bottle" ]
138
68
[ "reposition the bottle" ]
145
69
[ "move the bottle to another location" ]
139
70
[ "transport the bottle" ]
232
71
[ "move the bottle to another location" ]
148
72
[ "move the bottle to another location" ]
136
73
[ "move the plastic bottle" ]
166
74
[ "move the glass bottle" ]
160
75
[ "reposition the bottle" ]
137
76
[ "shift the bottle" ]
137
77
[ "the bottle goes elsewhere" ]
135
78
[ "reposition the bottle" ]
141
79
[ "transport the bottle" ]
136
80
[ "kindly move the bottle" ]
159
81
[ "move the drink bottle" ]
136
82
[ "transport the bottle" ]
141
83
[ "please move the bottle" ]
140
84
[ "the bottle should be moved" ]
140
85
[ "move the glass bottle" ]
136
86
[ "reposition the bottle" ]
134
87
[ "kindly move the bottle" ]
137
88
[ "move the drink bottle" ]
196
89
[ "move the beverage bottle" ]
136
90
[ "relocate the bottle" ]
141
91
[ "move the drink bottle" ]
142
92
[ "relocate the bottle" ]
156
93
[ "move the beverage bottle" ]
143
94
[ "the bottle should be moved" ]
142
95
[ "move the glass bottle" ]
144
96
[ "shift the bottle" ]
136
97
[ "move the plastic bottle" ]
145
98
[ "could you move the bottle" ]
143
99
[ "move the beverage bottle" ]
136
End of preview.

roboreal_lerobot (camext)

RoboReal / RoboPRO LeRobot v2.1 dataset (15,999 episodes, 3.74M frames, 25 fps), rebuilt to include per-frame camera extrinsics + intrinsics for all 3 cameras (left & right = wrist cams; countertop = static scene view).

Layout (packed as tars for fast upload)

  • videos.tar → extract to get videos/observation.images.{left,right,countertop}/...mp4 (native 320x240)
  • data.tar → extract to get data/chunk-*/episode_*.parquet (state, action, and observation.{left,right,countertop}.{extrinsic_cv(12),intrinsic_cv(9)})
  • meta/ → info.json, episodes.jsonl, tasks.jsonl, episodes_stats.jsonl, modality.json, camera_conventions.md

To use 

huggingface-cli download JackLiu0406/roboreal_lerobot --repo-type dataset --local-dir roboreal_lerobot
cd roboreal_lerobot && tar -xf videos.tar && tar -xf data.tar

extrinsic_cv: OpenCV world->camera (flattened 3x4, per-frame). intrinsic_cv: K (flattened 3x3), calibrated to native 320x240.
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Total file size:
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