Datasets:
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observation.state list | action list | timestamp float32 0 488 | frame_index int64 0 7.32k | episode_index int64 0 34 | index int64 0 48.2k | task_index int64 0 7 |
|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
playground-stage2-v1 — RoboTwin sim aimless-grasp conditioning data
Stage-2 of a 3-stage curriculum (DROID CoT pretrain → playground @grip conditioning →
task finetune). 35 episodes (~47k frames @15fps) of aimless cube pick-and-place teleop in
RoboTwin sim (Franka), stored as a LeRobot v2.1 video/h264 dataset, schema-identical to
Numbnut/droid-keeps-v6:
observation.images.ext= bird_eye camera (the<loc>/@grip grounding view), 320×240observation.images.wrist= right_cameraobservation.state(8,) = joint qpos (7) + gripper open (1=open)action(7,) = EE delta-euler + gripper, viacompute_ee_delta_actions- task = neutral prompt pool ("rearrange the cubes on the tabletop", …) — deliberately intent-free; intent is carried by the @grip condition tokens.
Repo-root artifacts:
cot_table_playground.pkl— per-keyframe tokenized S (scene +@grip_now) and A (action steering + future@grip) spans, 3,258 keyframes, PaliGemma<loc>/<seg>grounded tokens projected to bird_eye. Deterministically generated (FK + HSV), no VLM. Frame indices already divided by the conversion stride (2).norm_stats.json— state/action normalization statistics over the train split.droid_provenance.json(inside the dataset) — lerobot episode → source episode map + the 3 held-out episodes (--split allrepo: exclude held-out at load time).
Sources: teleop_stack_scatter (30 eps), teleop_playground (3 eps),
teleop_stack_scatter_raster (2 eps, +front-camera renders, slight visual shift — kept
in-distribution as mild domain randomization).
Built by policy/pi05-pure/scripts/convert_playground_to_lerobot.py in the RoboTwin fork.
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