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mateoguaman
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language_table_blocktoblock_4block_sim

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Robotics
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observation.state
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observation.effector_target_translation
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3.5
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4
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4.3
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2
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4.4
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4.5
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4.6
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4.7
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4.8
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4.9
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5
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5.1
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5.2
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2
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

It is a LeRobot v3.0 conversion of the language_table_blocktoblock_4block_sim dataset from the Language Table project (Google Research).

The original RLDS data was streamed from gs://gresearch/robotics/language_table_blocktoblock_4block_sim/0.0.1/, converted to LeRobot v2.0 format preserving all fields (action, state, effector target, reward, done, instruction), then restructured to v3.0 with lossless video concatenation.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "xarm",
    "total_episodes": 8298,
    "total_frames": 318470,
    "total_tasks": 1711,
    "chunks_size": 1000,
    "fps": 10,
    "splits": {
        "train": "0:8298"
    },
    "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.images.rgb": {
            "dtype": "video",
            "shape": [
                360,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "video_info": {
                "video.fps": 10.0,
                "video.height": 360,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "libx264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                2
            ],
            "names": {
                "motors": [
                    "x",
                    "y"
                ]
            },
            "fps": 10
        },
        "observation.effector_target_translation": {
            "dtype": "float32",
            "shape": [
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            ],
            "names": {
                "motors": [
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            },
            "fps": 10
        },
        "action": {
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            "names": {
                "motors": [
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            },
            "fps": 10
        },
        "next.reward": {
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            "names": null,
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        "next.done": {
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        "timestamp": {
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        "frame_index": {
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            "names": null,
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        },
        "episode_index": {
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            ],
            "names": null,
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        },
        "index": {
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                1
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        },
        "task_index": {
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            "names": null,
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        }
    },
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200
}
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Homepage:
github.com
Paper:
arxiv.org
License:
apache-2.0
Number of rows:
318,470
Total file size:
281 MB

Paper for mateoguaman/language_table_blocktoblock_4block_sim