Datasets:
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action listlengths 16 16 ⌀ | observation.state listlengths 16 16 ⌀ | timestamp float32 0 37.7 ⌀ | frame_index int64 0 565 ⌀ | episode_index int64 0 105 ⌀ | index int64 0 37.2k ⌀ | task_index int64 0 0 ⌀ |
|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
aw_mix_ee_h
One cell of the 3-axis AI-Worker comparison grid (aw_<source>_<representation>_<cameras>).
- Source: co-training merge: robot exo data (episodes 0-59) + UMI VR data (episodes 60-105), 106 eps / 37,153 frames
- State/Action representation: 16-dim EE pose (
left_ee/right_eexyz + quaternion(x,y,z,w) + gripper) in the robot base frame. Robot-sourced poses were obtained by FK onrcv_worker.urdfwithlift_joint=-0.15, TCP framesleft_tcp/right_tcp. Gripper dims are identically 0 in both sources (never actuated). - Cameras:
headonly (240x320 @ 15 fps)
All variants share identical camera keys and fps, so any aw_*_ee_h datasets are
schema-compatible for co-training. Head-pose dims and vr_seq from the original UMI
recording were dropped; head/lift joints from the original robot recording were dropped
(lift is fixed at -0.15 in all kinematic conversions).
Built with LeRobot (dataset v3.0).
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