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This dataset was created using LeRobot.
Dataset Description
Curated version of rainbowrobotics/opening_dh_km_20260616_185358.
Episodes [0, 1, 2, 4, 6, 8, 10, 11] were removed after manual inspection.
- Original dataset:
rainbowrobotics/opening_dh_km_20260616_185358 - Curated dataset:
rainbowrobotics/opening_ceremony_0616_2_curated - License: apache-2.0
- Robot type: rby1
- FPS: 30
- Total episodes: 5
- Total frames: 9624
- Total tasks: 1
- LeRobot codebase version: v3.0
Dataset Structure
This is a LeRobot dataset.
Main files:
data/chunk-000/file-000.parquetmeta/info.jsonmeta/stats.jsonmeta/tasks.parquetmeta/episodes/chunk-000/file-000.parquetvideos/observation.images.front/...videos/observation.images.left/...videos/observation.images.right/...
Features
{
"action": {
"dtype": "float32",
"names": [
"right_arm_0",
"right_arm_1",
"right_arm_2",
"right_arm_3",
"right_arm_4",
"right_arm_5",
"right_arm_6",
"left_arm_0",
"left_arm_1",
"left_arm_2",
"left_arm_3",
"left_arm_4",
"left_arm_5",
"left_arm_6",
"right_gripper_0",
"left_gripper_0"
],
"shape": [
16
]
},
"observation.state": {
"dtype": "float32",
"names": [
"right_arm_0",
"right_arm_1",
"right_arm_2",
"right_arm_3",
"right_arm_4",
"right_arm_5",
"right_arm_6",
"left_arm_0",
"left_arm_1",
"left_arm_2",
"left_arm_3",
"left_arm_4",
"left_arm_5",
"left_arm_6",
"right_gripper_0",
"left_gripper_0"
],
"shape": [
16
]
},
"observation.images.front": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {}
}
},
"observation.images.right": {
"dtype": "video",
"shape": [
640,
480,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 640,
"video.width": 480,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {}
}
},
"observation.images.left": {
"dtype": "video",
"shape": [
640,
480,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 640,
"video.width": 480,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {}
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
Full meta/info.json
{
"codebase_version": "v3.0",
"robot_type": "rby1",
"total_episodes": 5,
"total_frames": 9624,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:5"
},
"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": {
"action": {
"dtype": "float32",
"names": [
"right_arm_0",
"right_arm_1",
"right_arm_2",
"right_arm_3",
"right_arm_4",
"right_arm_5",
"right_arm_6",
"left_arm_0",
"left_arm_1",
"left_arm_2",
"left_arm_3",
"left_arm_4",
"left_arm_5",
"left_arm_6",
"right_gripper_0",
"left_gripper_0"
],
"shape": [
16
]
},
"observation.state": {
"dtype": "float32",
"names": [
"right_arm_0",
"right_arm_1",
"right_arm_2",
"right_arm_3",
"right_arm_4",
"right_arm_5",
"right_arm_6",
"left_arm_0",
"left_arm_1",
"left_arm_2",
"left_arm_3",
"left_arm_4",
"left_arm_5",
"left_arm_6",
"right_gripper_0",
"left_gripper_0"
],
"shape": [
16
]
},
"observation.images.front": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {}
}
},
"observation.images.right": {
"dtype": "video",
"shape": [
640,
480,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 640,
"video.width": 480,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {}
}
},
"observation.images.left": {
"dtype": "video",
"shape": [
640,
480,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 640,
"video.width": 480,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {}
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
[More Information Needed]
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