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apaszynska
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merged_diffrenet_grips

Tasks:
Robotics
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parquet
Size:
100K - 1M
Tags:
LeRobot
lerobot
robotics
robot-learning
imitation-learning
reinforcement-learning
Libraries:
Datasets
pandas
Polars
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1
+ ---
2
+ license: apache-2.0
3
+ task_categories:
4
+ - robotics
5
+ tags:
6
+ - LeRobot
7
+ - lerobot
8
+ - robotics
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+ - robot-learning
10
+ - imitation-learning
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+ - reinforcement-learning
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+ - recap
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+ configs:
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+ - config_name: default
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+ data_files:
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+ - split: train
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+ path: data/**/*.parquet
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+ ---
19
+
20
+ # merged_diffrenet_grips
21
+
22
+ Dataset for RECAP (RL with Experience and Corrections via Advantage-conditioned Policies) training.
23
+
24
+ ## Dataset Description
25
+
26
+ - **Robot Type:** bi_dk1_follower
27
+ - **Total Episodes:** 302
28
+ - **Total Frames:** 209890
29
+ - **FPS:** 30
30
+
31
+ ## Features
32
+
33
+ | Feature | Type | Shape |
34
+ |---------|------|-------|
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+ | `action` | float32 | (14,) |
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+ | `observation.state` | float32 | (14,) |
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+ | `observation.images.camera_0` | video | (480, 640, 3) |
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+ | `observation.images.camera_1` | video | (480, 640, 3) |
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+ | `observation.images.camera_2` | video | (480, 640, 3) |
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+ | `timestamp` | float32 | (1,) |
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+ | `frame_index` | int64 | (1,) |
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+ | `episode_index` | int64 | (1,) |
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+ | `index` | int64 | (1,) |
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+ | `task_index` | int64 | (1,) |
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+
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+
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+ ## RECAP-Specific Features
48
+
49
+ - **is_intervention:** 1 if frame was human teleoperation, 0 if policy control
50
+ - **episode_success:** 1 if episode was successful, 0 if failure, -1 if unlabeled
51
+
52
+ ## Usage
53
+
54
+ ```python
55
+ from lerobot.datasets.lerobot_dataset import LeRobotDataset
56
+
57
+ dataset = LeRobotDataset("apaszynska/merged_diffrenet_grips")
58
+ ```
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+
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+ ## License
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+
62
+ Apache 2.0
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