Search is not available for this dataset
observation.state listlengths 6 6 ⌀ | action listlengths 6 6 ⌀ | timestamp float32 0 6.77 ⌀ | frame_index int64 0 203 ⌀ | episode_index int64 0 7 ⌀ | index int64 0 1.48k ⌀ | task_index int64 0 0 ⌀ |
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End of preview. Expand in Data Studio
move_blue_ball_training_v21
This is a convention-converted copy of andlyu/move_blue_ball_training.
Only the 6D SO101 joint columns were changed:
observation.stateaction
The source dataset was recorded with LeRobot SO101 v3 calibrated robot degrees.
This copy converts those joint vectors into the older SO100/SO101 v2.1 policy
degree convention expected by allenai/MolmoAct2-SO100_101.
Conversion:
old = (new - [0, 90, -90, 0, 0, 0]) / [1, -1, 1, 1, 1, 1]
Equivalent per-joint form:
shoulder_lift_old = 90 - shoulder_lift_new
elbow_flex_old = elbow_flex_new + 90
All videos, task metadata, timestamps, frame indices, and episode boundaries are copied from the source dataset. Global and per-episode LeRobot stats were recomputed for the converted joint columns.
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