Search is not available for this dataset
observation.state listlengths 14 14 | action listlengths 14 14 | timestamp float32 0 70.9 | frame_index int64 0 2.13k | episode_index int64 0 760 | index int64 0 252k | task_index int64 0 0 |
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End of preview. Expand in Data Studio
yam7h-teleop
Real-robot teleoperation, YAM bimanual.
Part of a 7.014 h co-fine-tuning mixture for pi0-FAST on the YAM bimanual arm:
| source | episodes | frames | hours |
|---|---|---|---|
angkul07/yam7h-teleop |
761 | 251,703 | 2.331 |
angkul07/yam7h-ego |
4,174 | 505,837 | 4.684 |
| total | 4,935 | 757,540 | 7.014 |
This dataset
| Episodes | 761 |
| Frames | 251,703 |
| Duration | 2.331 h |
| FPS | 30 |
| Codebase version | v2.1 |
| Source | angkul07/abc-teleop |
| Views | observation.images.top, .left_wrist, .right_wrist (224x224) |
| State / action | 14-D (2x6 arm joints + 2 grippers) |
Selection
761 episodes sampled by duration (not by count) from the 1,396-episode training pool to hit a 2.33 h target, seed 0.
The 249 episodes published as
angkul07/abc-teleop-holdout
were excluded from the pool first, so no frame here overlaps the eval split —
verified as zero overlap.
Single task: put the screwdriver in the bin.
Because this is a renumbered subset that already physically omits the holdout, do not apply the original
exclude_episodeslist to it. Those are indices into the fullabc-teleop: 143 of the 249 fall outside 0..760, and the other 106 are in range and would silently withhold unrelated episodes.
Episode renumbering
Episodes are renumbered 0..760; original source indices are in
source_episodes.json (episodes list + index_map).
This is required, not cosmetic: lerobot's get_episodes_file_paths probes
range(meta.total_episodes), so a folder holding sparse original indices is
unopenable — it silently falls back to the Hub and 401s.
Verification
Built by vast_run/build_mixture.py and checked by vast_run/audit_mixture.py in
angkul07/openpi:
- 25 random episodes read back and compared column-by-column against the source
parquet —
observation.state,action,timestamp,frame_index,task_indexall byte-identical. Renumbering touches onlyepisode_indexand the globalindex. - 8 episodes x 3 cameras decoded with
ffprobe; every frame count matches its parquet row count. - Episode indices contiguous, global
indexcontiguous across the dataset, all parquet and video files present.
Reproducing the selection
vast_run/yam7h_manifest.json records the exact episode lists (seed 0).
python vast_run/select_mixture.py --dry-run # plan, downloads only meta/
python vast_run/build_mixture.py # fetch only selected episodes
python vast_run/audit_mixture.py # independent verification
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