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Datasets:
sk1700
/
iros

Tasks:
Robotics
Modalities:
Tabular
Video
Formats:
parquet
Languages:
English
Size:
< 1K
Tags:
robotics
dataset
lerobot
ur5e
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
xet
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3.3
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End of preview. Expand in Data Studio

UR5e Dual RealSense Haptic Teleoperation Dataset (LeRobot v2.1)

  • Control loop: ~500 Hz (RTDE)
  • Dataset sampling: fixed 30 Hz

Definitions:

  • observation.state[t] = q_actual[t]
  • action[t] = Δq[t] = q_target[t] - q_actual[t] (q_target from RTDE target_q)

Videos:

  • videos/chunk-000/observation.images.wrist/episode_XXXXXX.mp4
  • videos/chunk-000/observation.images.front/episode_XXXXXX.mp4

Per-episode Parquet schema (STRICT order): action, observation.state, timestamp, frame_index, episode_index, index, task_index

Downloads last month
67
Size of downloaded dataset files:
114 kB
Size of the auto-converted Parquet files:
114 kB
Number of rows:
978