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observation.state listlengths 14 14 | action listlengths 14 14 | episode_index int64 0 37 | frame_index int64 0 2.48k | timestamp float32 0 82.6 | index int64 0 57.4k | task_index int64 0 0 | phase stringclasses 1
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End of preview. Expand in Data Studio
earbuds_30fps
Teleoperation dataset: airpods.
Collected with limb on yam arms.
Dataset summary
| Field | Value |
|---|---|
| Robot | yam |
| Episodes | 38 |
| Total frames | 57,365 |
| FPS | 30 Hz |
| Task | airpods. |
| Format | LeRobot v3.0 |
Cameras
| Name |
|---|
head_camera |
left_wrist_camera |
right_wrist_camera |
Video codec: hevc.
State space (observation.state, shape [14])
| Index | Name |
|---|---|
| 0 | left_joint_0 |
| 1 | left_joint_1 |
| 2 | left_joint_2 |
| 3 | left_joint_3 |
| 4 | left_joint_4 |
| 5 | left_joint_5 |
| 6 | left_gripper |
| 7 | right_joint_0 |
| 8 | right_joint_1 |
| 9 | right_joint_2 |
| 10 | right_joint_3 |
| 11 | right_joint_4 |
| 12 | right_joint_5 |
| 13 | right_gripper |
Action space (action, shape [14])
| Index | Name |
|---|---|
| 0 | left_joint_0 |
| 1 | left_joint_1 |
| 2 | left_joint_2 |
| 3 | left_joint_3 |
| 4 | left_joint_4 |
| 5 | left_joint_5 |
| 6 | left_gripper |
| 7 | right_joint_0 |
| 8 | right_joint_1 |
| 9 | right_joint_2 |
| 10 | right_joint_3 |
| 11 | right_joint_4 |
| 12 | right_joint_5 |
| 13 | right_gripper |
State and action are 1:1 index-aligned.
Note: Gripper dimensions may use different units between state (raw motor radians) and action (teleoperator command space). The robot's JointMapper rescales between these at command time. Left and right grippers may also have different value ranges if the physical hardware travel differs.
Usage
from lerobot.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("<repo_id>")
print(ds.num_episodes, ds.num_frames, ds[0]["observation.state"].shape)
License
Apache 2.0
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