Hugging Face's logo

Datasets:
Sraghvi
/
real_lerobot_format

Tasks:
Robotics
Modalities:
Tabular
Time-series
Formats:
parquet
Languages:
English
Size:
< 1K
Tags:
robotics
lerobot
manipulation
bimanual
Libraries:
Datasets
pandas
License:
Dataset card Data Studio Files
xet
 Community
Dataset Viewer
Auto-converted to Parquet Duplicate
Search is not available for this dataset
timestamp
float32
0
10
frame_index
int64
0
99
episode_index
int64
0
0
index
int64
0
99
task_index
int64
0
0
next.reward
float32
0.01
1
next.done
bool
1 class
next.success
bool
1 class
action
listlengths
2
2
observation.state
listlengths
2
2
0
0
0
0
0
0.867517
false
false
[ 0, 1 ]
[ 0, 1 ]
0.10101
1
0
1
0
0.25796
false
false
[ 0.0998334139585495, 0.9950041770935059 ]
[ 0.0998334139585495, 0.9950041770935059 ]
0.20202
2
0
2
0
0.201636
false
false
[ 0.19866932928562164, 0.9800665974617004 ]
[ 0.19866932928562164, 0.9800665974617004 ]
0.30303
3
0
3
0
0.717133
false
false
[ 0.29552021622657776, 0.9553365111351013 ]
[ 0.29552021622657776, 0.9553365111351013 ]
0.40404
4
0
4
0
0.650865
false
false
[ 0.3894183337688446, 0.9210609793663025 ]
[ 0.3894183337688446, 0.9210609793663025 ]
0.50505
5
0
5
0
0.144968
false
false
[ 0.4794255495071411, 0.8775825500488281 ]
[ 0.4794255495071411, 0.8775825500488281 ]
0.606061
6
0
6
0
0.122655
false
false
[ 0.5646424889564514, 0.8253356218338013 ]
[ 0.5646424889564514, 0.8253356218338013 ]
0.707071
7
0
7
0
0.371399
false
false
[ 0.6442176699638367, 0.7648422122001648 ]
[ 0.6442176699638367, 0.7648422122001648 ]
0.808081
8
0
8
0
0.948366
false
false
[ 0.7173560857772827, 0.6967067122459412 ]
[ 0.7173560857772827, 0.6967067122459412 ]
0.909091
9
0
9
0
0.433657
false
false
[ 0.7833269238471985, 0.6216099858283997 ]
[ 0.7833269238471985, 0.6216099858283997 ]
1.010101
10
0
10
0
0.093178
false
false
[ 0.8414709568023682, 0.5403022766113281 ]
[ 0.8414709568023682, 0.5403022766113281 ]
1.111111
11
0
11
0
0.783619
false
false
[ 0.8912073373794556, 0.4535961151123047 ]
[ 0.8912073373794556, 0.4535961151123047 ]
1.212121
12
0
12
0
0.11053
false
false
[ 0.9320390820503235, 0.3623577654361725 ]
[ 0.9320390820503235, 0.3623577654361725 ]
1.313131
13
0
13
0
0.338018
false
false
[ 0.9635581970214844, 0.26749882102012634 ]
[ 0.9635581970214844, 0.26749882102012634 ]
1.414141
14
0
14
0
0.293543
false
false
[ 0.9854497313499451, 0.1699671447277069 ]
[ 0.9854497313499451, 0.1699671447277069 ]
1.515152
15
0
15
0
0.445821
false
false
[ 0.9974949955940247, 0.07073719799518585 ]
[ 0.9974949955940247, 0.07073719799518585 ]
1.616162
16
0
16
0
0.549408
false
false
[ 0.9995735883712769, -0.029199521988630295 ]
[ 0.9995735883712769, -0.029199521988630295 ]
1.717172
17
0
17
0
0.165152
false
false
[ 0.9916648268699646, -0.1288444995880127 ]
[ 0.9916648268699646, -0.1288444995880127 ]
1.818182
18
0
18
0
0.060241
false
false
[ 0.9738476276397705, -0.22720208764076233 ]
[ 0.9738476276397705, -0.22720208764076233 ]
1.919192
19
0
19
0
0.47136
false
false
[ 0.9463000893592834, -0.32328957319259644 ]
[ 0.9463000893592834, -0.32328957319259644 ]
2.020202
20
0
20
0
0.246036
false
false
[ 0.9092974066734314, -0.416146844625473 ]
[ 0.9092974066734314, -0.416146844625473 ]
2.121212
21
0
21
0
0.938742
false
false
[ 0.8632093667984009, -0.5048460960388184 ]
[ 0.8632093667984009, -0.5048460960388184 ]
2.222222
22
0
22
0
0.083353
false
false
[ 0.8084964156150818, -0.5885010957717896 ]
[ 0.8084964156150818, -0.5885010957717896 ]
2.323232
23
0
23
0
0.97878
false
false
[ 0.7457051873207092, -0.6662760376930237 ]
[ 0.7457051873207092, -0.6662760376930237 ]
2.424242
24
0
24
0
0.792761
false
false
[ 0.6754631996154785, -0.7373937368392944 ]
[ 0.6754631996154785, -0.7373937368392944 ]
2.525253
25
0
25
0
0.873969
false
false
[ 0.5984721183776855, -0.8011435866355896 ]
[ 0.5984721183776855, -0.8011435866355896 ]
2.626263
26
0
26
0
0.802256
false
false
[ 0.5155013799667358, -0.8568887710571289 ]
[ 0.5155013799667358, -0.8568887710571289 ]
2.727273
27
0
27
0
0.646607
false
false
[ 0.42737987637519836, -0.9040721654891968 ]
[ 0.42737987637519836, -0.9040721654891968 ]
2.828283
28
0
28
0
0.827583
false
false
[ 0.33498814702033997, -0.9422223567962646 ]
[ 0.33498814702033997, -0.9422223567962646 ]
2.929293
29
0
29
0
0.341477
false
false
[ 0.2392493337392807, -0.9709581732749939 ]
[ 0.2392493337392807, -0.9709581732749939 ]
3.030303
30
0
30
0
0.066682
false
false
[ 0.14112000167369843, -0.9899924993515015 ]
[ 0.14112000167369843, -0.9899924993515015 ]
3.131313
31
0
31
0
0.394566
false
false
[ 0.04158066213130951, -0.9991351366043091 ]
[ 0.04158066213130951, -0.9991351366043091 ]
3.232323
32
0
32
0
0.505944
false
false
[ -0.05837414413690567, -0.9982947707176208 ]
[ -0.05837414413690567, -0.9982947707176208 ]
3.333333
33
0
33
0
0.541688
false
false
[ -0.15774568915367126, -0.9874797463417053 ]
[ -0.15774568915367126, -0.9874797463417053 ]
3.434343
34
0
34
0
0.856148
false
false
[ -0.2555411159992218, -0.9667981863021851 ]
[ -0.2555411159992218, -0.9667981863021851 ]
3.535353
35
0
35
0
0.529365
false
false
[ -0.35078322887420654, -0.9364566802978516 ]
[ -0.35078322887420654, -0.9364566802978516 ]
3.636364
36
0
36
0
0.454401
false
false
[ -0.4425204396247864, -0.8967584371566772 ]
[ -0.4425204396247864, -0.8967584371566772 ]
3.737374
37
0
37
0
0.857799
false
false
[ -0.529836118221283, -0.8481000065803528 ]
[ -0.529836118221283, -0.8481000065803528 ]
3.838384
38
0
38
0
0.598638
false
false
[ -0.6118578910827637, -0.7909677028656006 ]
[ -0.6118578910827637, -0.7909677028656006 ]
3.939394
39
0
39
0
0.340016
false
false
[ -0.6877661347389221, -0.7259323000907898 ]
[ -0.6877661347389221, -0.7259323000907898 ]
4.040404
40
0
40
0
0.811178
false
false
[ -0.756802499294281, -0.6536436080932617 ]
[ -0.756802499294281, -0.6536436080932617 ]
4.141414
41
0
41
0
0.870102
false
false
[ -0.81827712059021, -0.5748239755630493 ]
[ -0.81827712059021, -0.5748239755630493 ]
4.242424
42
0
42
0
0.017554
false
false
[ -0.8715757727622986, -0.4902608096599579 ]
[ -0.8715757727622986, -0.4902608096599579 ]
4.343434
43
0
43
0
0.040794
false
false
[ -0.9161659479141235, -0.4007991850376129 ]
[ -0.9161659479141235, -0.4007991850376129 ]
4.444445
44
0
44
0
0.77873
false
false
[ -0.9516021013259888, -0.3073328733444214 ]
[ -0.9516021013259888, -0.3073328733444214 ]
4.545455
45
0
45
0
0.960362
false
false
[ -0.9775301218032837, -0.2107958048582077 ]
[ -0.9775301218032837, -0.2107958048582077 ]
4.646465
46
0
46
0
0.512153
false
false
[ -0.9936910271644592, -0.11215252429246902 ]
[ -0.9936910271644592, -0.11215252429246902 ]
4.747475
47
0
47
0
0.708538
false
false
[ -0.9999232292175293, -0.012388663366436958 ]
[ -0.9999232292175293, -0.012388663366436958 ]
4.848485
48
0
48
0
0.208926
false
false
[ -0.9961646199226379, 0.0874989852309227 ]
[ -0.9961646199226379, 0.0874989852309227 ]
4.949495
49
0
49
0
0.791478
false
false
[ -0.9824526309967041, 0.18651236593723297 ]
[ -0.9824526309967041, 0.18651236593723297 ]
5.050505
50
0
50
0
0.625009
false
false
[ -0.9589242935180664, 0.28366219997406006 ]
[ -0.9589242935180664, 0.28366219997406006 ]
5.151515
51
0
51
0
0.897365
false
false
[ -0.925814688205719, 0.37797772884368896 ]
[ -0.925814688205719, 0.37797772884368896 ]
5.252525
52
0
52
0
0.925888
false
false
[ -0.8834546804428101, 0.46851667761802673 ]
[ -0.8834546804428101, 0.46851667761802673 ]
5.353535
53
0
53
0
0.020594
false
false
[ -0.8322674632072449, 0.5543743371963501 ]
[ -0.8322674632072449, 0.5543743371963501 ]
5.454545
54
0
54
0
0.778281
false
false
[ -0.7727645039558411, 0.6346928477287292 ]
[ -0.7727645039558411, 0.6346928477287292 ]
5.555555
55
0
55
0
0.020747
false
false
[ -0.7055402994155884, 0.7086697816848755 ]
[ -0.7055402994155884, 0.7086697816848755 ]
5.656566
56
0
56
0
0.456332
false
false
[ -0.6312666535377502, 0.7755658626556396 ]
[ -0.6312666535377502, 0.7755658626556396 ]
5.757576
57
0
57
0
0.58658
false
false
[ -0.5506855249404907, 0.8347128033638 ]
[ -0.5506855249404907, 0.8347128033638 ]
5.858586
58
0
58
0
0.15324
false
false
[ -0.46460217237472534, 0.8855195045471191 ]
[ -0.46460217237472534, 0.8855195045471191 ]
5.959596
59
0
59
0
0.128222
false
false
[ -0.3738766610622406, 0.9274784326553345 ]
[ -0.3738766610622406, 0.9274784326553345 ]
6.060606
60
0
60
0
0.140832
false
false
[ -0.279415488243103, 0.9601702690124512 ]
[ -0.279415488243103, 0.9601702690124512 ]
6.161616
61
0
61
0
0.821024
false
false
[ -0.18216250836849213, 0.9832684397697449 ]
[ -0.18216250836849213, 0.9832684397697449 ]
6.262626
62
0
62
0
0.668627
false
false
[ -0.08308940380811691, 0.9965420961380005 ]
[ -0.08308940380811691, 0.9965420961380005 ]
6.363636
63
0
63
0
0.7878
false
false
[ 0.01681390032172203, 0.9998586177825928 ]
[ 0.01681390032172203, 0.9998586177825928 ]
6.464646
64
0
64
0
0.693973
false
false
[ 0.11654920130968094, 0.9931849241256714 ]
[ 0.11654920130968094, 0.9931849241256714 ]
6.565657
65
0
65
0
0.804451
false
false
[ 0.21511998772621155, 0.9765876531600952 ]
[ 0.21511998772621155, 0.9765876531600952 ]
6.666667
66
0
66
0
0.417265
false
false
[ 0.311541348695755, 0.9502325654029846 ]
[ 0.311541348695755, 0.9502325654029846 ]
6.767677
67
0
67
0
0.335677
false
false
[ 0.40484991669654846, 0.9143831729888916 ]
[ 0.40484991669654846, 0.9143831729888916 ]
6.868687
68
0
68
0
0.384199
false
false
[ 0.49411335587501526, 0.8693974614143372 ]
[ 0.49411335587501526, 0.8693974614143372 ]
6.969697
69
0
69
0
0.755857
false
false
[ 0.5784397721290588, 0.8157250881195068 ]
[ 0.5784397721290588, 0.8157250881195068 ]
7.070707
70
0
70
0
0.923904
false
false
[ 0.6569865942001343, 0.7539022564888 ]
[ 0.6569865942001343, 0.7539022564888 ]
7.171717
71
0
71
0
0.31418
false
false
[ 0.7289690375328064, 0.6845466494560242 ]
[ 0.7289690375328064, 0.6845466494560242 ]
7.272727
72
0
72
0
0.606356
false
false
[ 0.7936678528785706, 0.6083512902259827 ]
[ 0.7936678528785706, 0.6083512902259827 ]
7.373737
73
0
73
0
0.562028
false
false
[ 0.8504366278648376, 0.5260775089263916 ]
[ 0.8504366278648376, 0.5260775089263916 ]
7.474748
74
0
74
0
0.411602
false
false
[ 0.8987081050872803, 0.4385473132133484 ]
[ 0.8987081050872803, 0.4385473132133484 ]
7.575758
75
0
75
0
0.478116
false
false
[ 0.937999963760376, 0.3466353118419647 ]
[ 0.937999963760376, 0.3466353118419647 ]
7.676768
76
0
76
0
0.036407
false
false
[ 0.967919647693634, 0.25125983357429504 ]
[ 0.967919647693634, 0.25125983357429504 ]
7.777778
77
0
77
0
0.122485
false
false
[ 0.9881682395935059, 0.1533738672733307 ]
[ 0.9881682395935059, 0.1533738672733307 ]
7.878788
78
0
78
0
0.129153
false
false
[ 0.9985433220863342, 0.05395542085170746 ]
[ 0.9985433220863342, 0.05395542085170746 ]
7.979798
79
0
79
0
0.804165
false
false
[ 0.9989413619041443, -0.04600212723016739 ]
[ 0.9989413619041443, -0.04600212723016739 ]
8.080808
80
0
80
0
0.014921
false
false
[ 0.9893582463264465, -0.1455000340938568 ]
[ 0.9893582463264465, -0.1455000340938568 ]
8.181818
81
0
81
0
0.870551
false
false
[ 0.9698898196220398, -0.24354414641857147 ]
[ 0.9698898196220398, -0.24354414641857147 ]
8.282828
82
0
82
0
0.015765
false
false
[ 0.9407305717468262, -0.3391548693180084 ]
[ 0.9407305717468262, -0.3391548693180084 ]
8.383839
83
0
83
0
0.079803
false
false
[ 0.9021718502044678, -0.4313768446445465 ]
[ 0.9021718502044678, -0.4313768446445465 ]
8.484848
84
0
84
0
0.83668
false
false
[ 0.854598879814148, -0.5192886590957642 ]
[ 0.854598879814148, -0.5192886590957642 ]
8.585858
85
0
85
0
0.627864
false
false
[ 0.79848712682724, -0.6020119190216064 ]
[ 0.79848712682724, -0.6020119190216064 ]
8.686869
86
0
86
0
0.328969
false
false
[ 0.7343971133232117, -0.6787200570106506 ]
[ 0.7343971133232117, -0.6787200570106506 ]
8.787879
87
0
87
0
0.147764
false
false
[ 0.6629692316055298, -0.74864661693573 ]
[ 0.6629692316055298, -0.74864661693573 ]
8.888889
88
0
88
0
0.376947
false
false
[ 0.5849171876907349, -0.8110930323600769 ]
[ 0.5849171876907349, -0.8110930323600769 ]
8.989899
89
0
89
0
0.837932
false
false
[ 0.5010208487510681, -0.8654351830482483 ]
[ 0.5010208487510681, -0.8654351830482483 ]
9.090909
90
0
90
0
0.353764
false
false
[ 0.41211849451065063, -0.9111302495002747 ]
[ 0.41211849451065063, -0.9111302495002747 ]
9.191919
91
0
91
0
0.570655
false
false
[ 0.3190983533859253, -0.9477216005325317 ]
[ 0.3190983533859253, -0.9477216005325317 ]
9.29293
92
0
92
0
0.554956
false
false
[ 0.22288991510868073, -0.9748436212539673 ]
[ 0.22288991510868073, -0.9748436212539673 ]
9.393939
93
0
93
0
0.523082
false
false
[ 0.12445442378520966, -0.9922253489494324 ]
[ 0.12445442378520966, -0.9922253489494324 ]
9.494949
94
0
94
0
0.456704
false
false
[ 0.024775424972176552, -0.9996930360794067 ]
[ 0.024775424972176552, -0.9996930360794067 ]
9.59596
95
0
95
0
0.35783
false
false
[ -0.07515112310647964, -0.9971721768379211 ]
[ -0.07515112310647964, -0.9971721768379211 ]
9.69697
96
0
96
0
0.916518
false
false
[ -0.17432677745819092, -0.984687864780426 ]
[ -0.17432677745819092, -0.984687864780426 ]
9.797979
97
0
97
0
0.997777
false
false
[ -0.27176061272621155, -0.9623648524284363 ]
[ -0.27176061272621155, -0.9623648524284363 ]
9.89899
98
0
98
0
0.527174
false
false
[ -0.36647912859916687, -0.930426299571991 ]
[ -0.36647912859916687, -0.930426299571991 ]
10
99
0
99
0
0.612961
false
false
[ -0.45753589272499084, -0.8891911506652832 ]
[ -0.45753589272499084, -0.8891911506652832 ]

real_lerobot_format

LeRobot v2.1 format dataset for robot manipulation.

Dataset Structure

  • Episodes: 1 episodes of robot manipulation
  • Total Frames: 100 frames
  • Cameras: 3 camera views per episode
    • observation.images.base_camera_sensor_image_raw
    • observation.images.arm1_camera_sensor_image_raw
    • observation.images.arm2_camera_sensor_image_raw
  • Robot: Bimanual manipulator with 34 joints
  • Format: LeRobot v2.1

Usage with LeRobot 

from lerobot.common.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset("Sraghvi/shrugmaster-test")

Dataset Format

This dataset follows the LeRobot v2.1 format:

  • data/chunk-000/: Parquet files containing episode data
  • videos/chunk-000/: MP4 video files for each camera view
  • meta/: Metadata files
    • info.json: Dataset configuration and feature descriptions
    • episodes.jsonl: Episode metadata
    • tasks.jsonl: Task descriptions
    • episodes_stats.jsonl: Dataset statistics

Dataset Details

  • Total Episodes: 1
  • Total Frames: 100
  • Average Episode Length: 100 frames
  • FPS: ~9 (calculated from real data)
  • Robot Type: Bimanual arm with 34 joints
  • Camera Resolution: 1280x720
  • Video Codec: H.264

Features

  • Action: Robot action commands with individual joint columns
  • Observation State: Robot state observations with individual joint columns
  • Isaac Commands: Simulation commands
  • Timestamp: Frame timestamps
  • Episode/Frame/Task Indices: Data organization
  • Joint Names: Names of all robot joints
  • Joint Velocities: Velocity data for all joints
Downloads last month
10
Number of rows:
100
Total file size:
17.4 kB