Datasets:

jellyho
/

seal-water-bottle-cap_annotated

observation.state list	observation.commander_state string	action list	timestamp float32	frame_index int64	index int64	reward float32	mc_return float32	rl_token list	base_action array 3D
[-0.0864042118191719,0.012397955171763897,0.008201723918318748,-0.004005493130534887,-0.169184401631(...TRUNCATED)	teleop	[-0.08514787256717682,0.02076762542128563,0.010130075737833977,0.002432521665468812,-0.1894093900918(...TRUNCATED)	0	0	0	-0.00009	-0.421707	[-0.7631927728652954,0.9625685811042786,-0.22930659353733063,0.7257059216499329,-0.466562956571579,0(...TRUNCATED)	[[[-0.08685302734375,0.0183563232421875,0.0186004638671875,0.004734039306640625,-0.1868896484375,-0.(...TRUNCATED)
[-0.0864042118191719,0.012397955171763897,0.008201723918318748,-0.004386968910694122,-0.169947355985(...TRUNCATED)	teleop	[-0.08359885960817337,0.02078281156718731,0.01474735327064991,-0.0006199466879479587,-0.189424723386(...TRUNCATED)	0.016667	1	1	-0.00009	-0.421617	[-0.6046141386032104,0.8138275146484375,-0.3765007257461548,0.7718439102172852,-0.6196312308311462,0(...TRUNCATED)	[[[-0.08563232421875,0.0159912109375,0.0178680419921875,0.006145477294921875,-0.1900634765625,-0.002(...TRUNCATED)
[-0.08602273464202881,0.012397955171763897,0.008201723918318748,-0.00476844422519207,-0.171854734420(...TRUNCATED)	teleop	[-0.08358336240053177,0.020782964304089546,0.014793526381254196,-0.0006504714256152511,-0.1894248872(...TRUNCATED)	0.033333	2	2	-0.00009	-0.421527	[-0.527574360370636,0.6090558171272278,-0.184637188911438,0.29015782475471497,0.15241025388240814,0.(...TRUNCATED)	[[[-0.085693359375,0.0193634033203125,0.0259857177734375,0.0005540847778320312,-0.186767578125,0.005(...TRUNCATED)
[-0.08564125746488571,0.012397955171763897,0.008201723918318748,-0.00476844422519207,-0.172999158501(...TRUNCATED)	teleop	[-0.08510185033082962,0.020782966166734695,0.02086855098605156,-0.0052066994830966,-0.18942488729953(...TRUNCATED)	0.05	3	3	-0.00009	-0.421437	[-0.3936241567134857,0.7086291909217834,-0.3764781057834625,0.5500767230987549,-0.0937417671084404,0(...TRUNCATED)	[[[-0.0849609375,0.0189056396484375,0.01953125,0.00399017333984375,-0.1883544921875,0.00232696533203(...TRUNCATED)
[-0.08564125746488571,0.012397955171763897,0.00858320016413927,-0.005912871100008488,-0.173762112855(...TRUNCATED)	teleop	[-0.08815431594848633,0.020782966166734695,0.031559787690639496,-0.00828954391181469,-0.192462161183(...TRUNCATED)	0.066667	4	4	-0.00009	-0.421347	[-0.2951550781726837,0.6104769706726074,-0.458329439163208,0.42423492670059204,-0.34159237146377563,(...TRUNCATED)	[[[-0.0863037109375,0.0206756591796875,0.03656005859375,0.0015859603881835938,-0.187744140625,0.0041(...TRUNCATED)
[-0.08602273464202881,0.012397955171763897,0.00858320016413927,-0.007057297509163618,-0.174525067210(...TRUNCATED)	teleop	[-0.08970348536968231,0.022301606833934784,0.03774126619100571,-0.008320372551679611,-0.195529818534(...TRUNCATED)	0.083333	5	5	-0.00009	-0.421257	[-0.3014105260372162,0.6247660517692566,-0.4110129773616791,0.377114474773407,-0.19012056291103363,0(...TRUNCATED)	[[[-0.0867919921875,0.0162200927734375,0.0322265625,0.0028705596923828125,-0.189453125,0.00329208374(...TRUNCATED)
[-0.08602273464202881,0.012397955171763897,0.00858320016413927,-0.00858320016413927,-0.1764324456453(...TRUNCATED)	teleop	[-0.0927562564611435,0.022316792979836464,0.04539628326892853,-0.008320680819451809,-0.1955605000257(...TRUNCATED)	0.1	6	6	-0.00009	-0.421167	[-0.3991599678993225,0.6509379744529724,-0.473947674036026,0.5012962818145752,-0.3348727822303772,0.(...TRUNCATED)	[[[-0.085205078125,0.016326904296875,0.036590576171875,-0.001682281494140625,-0.18603515625,0.003959(...TRUNCATED)
[-0.08602273464202881,0.012397955171763897,0.008964675478637218,-0.01125352829694748,-0.177195385098(...TRUNCATED)	teleop	[-0.09582407027482986,0.02383558638393879,0.05458468198776245,-0.008320683613419533,-0.1970794498920(...TRUNCATED)	0.116667	7	7	-0.00009	-0.421076	[-0.04545736312866211,0.5302528142929077,-0.5832270383834839,0.6080857515335083,0.038422659039497375(...TRUNCATED)	[[[-0.08740234375,0.01776123046875,0.050201416015625,-0.003314971923828125,-0.188720703125,0.0004284(...TRUNCATED)
[-0.0864042118191719,0.012779430486261845,0.008964675478637218,-0.01201647985726595,-0.1783398240804(...TRUNCATED)	teleop	[-0.0958547443151474,0.02385077439248562,0.06530705094337463,-0.008320683613419533,-0.19709463417530(...TRUNCATED)	0.133333	8	8	-0.00009	-0.420986	[-0.717314600944519,0.6683435440063477,-0.4100937843322754,0.34207648038864136,-0.02081831358373165,(...TRUNCATED)	[[[-0.089111328125,0.0213775634765625,0.058807373046875,-0.0038394927978515625,-0.1925048828125,0.01(...TRUNCATED)
[-0.0871671661734581,0.013923857361078262,0.009727626107633114,-0.012779430486261845,-0.180628672242(...TRUNCATED)	teleop	[-0.09585504978895187,0.025369565933942795,0.07148884236812592,-0.009839324280619621,-0.197094783186(...TRUNCATED)	0.15	9	9	-0.00009	-0.420896	[-0.5820868015289307,0.727953314781189,-0.5078547596931458,0.4510202407836914,0.12162350118160248,0.(...TRUNCATED)	[[[-0.088623046875,0.02154541015625,0.0576171875,-0.005382537841796875,-0.1925048828125,0.0090560913(...TRUNCATED)

End of preview. Expand in Data Studio

This dataset was created using LeRobot.

RLT annotation

Augmented with two precomputed columns for the downstream actor-critic RL stage:

rl_token — per-frame Pi0RLT bottleneck state representation, float32 [2048].
base_action — 32 base-VLA action chunks per frame, float16 [32, 50, 14] (raw/original action space, same as the action column).

All other columns (images/videos, state, action, reward, mc_return) are unchanged.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "yam",
    "total_episodes": 579,
    "total_frames": 3089399,
    "total_tasks": 1,
    "chunks_size": 1000,
    "fps": 60,
    "splits": {
        "train": "0:579"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                "left_waist",
                "left_shoulder",
                "left_elbow",
                "left_forearm_roll",
                "left_wrist_angle",
                "left_wrist_rotate",
                "left_gripper",
                "right_waist",
                "right_shoulder",
                "right_elbow",
                "right_forearm_roll",
                "right_wrist_angle",
                "right_wrist_rotate",
                "right_gripper"
            ],
            "fps": 60
        },
        "observation.commander_state": {
            "dtype": "string",
            "shape": [
                1
            ],
            "names": [
                "commander_states"
            ],
            "fps": 60
        },
        "action": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                "left_waist",
                "left_shoulder",
                "left_elbow",
                "left_forearm_roll",
                "left_wrist_angle",
                "left_wrist_rotate",
                "left_gripper",
                "right_waist",
                "right_shoulder",
                "right_elbow",
                "right_forearm_roll",
                "right_wrist_angle",
                "right_wrist_rotate",
                "right_gripper"
            ],
            "fps": 60
        },
        "observation.images.cam_left_wrist": {
            "dtype": "video",
            "shape": [
                224,
                224,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 224,
                "video.width": 224,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 60,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.cam_right_wrist": {
            "dtype": "video",
            "shape": [
                224,
                224,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 224,
                "video.width": 224,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 60,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.cam_high": {
            "dtype": "video",
            "shape": [
                224,
                224,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 224,
                "video.width": 224,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 60,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null,
            "fps": 60
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 60
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 60
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 60
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 60
        },
        "reward": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null,
            "fps": 60
        },
        "mc_return": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null,
            "fps": 60
        },
        "rl_token": {
            "dtype": "float32",
            "shape": [
                2048
            ],
            "names": null
        },
        "base_action": {
            "dtype": "float16",
            "shape": [
                32,
                50,
                14
            ],
            "names": null
        }
    },
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200
}

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