| language: | |
| - en | |
| license: apache-2.0 | |
| tags: | |
| - robotics | |
| - dataset | |
| - lerobot | |
| - ur5e | |
| task_categories: | |
| - robotics | |
| pretty_name: UR5e Dual RealSense Teleoperation Dataset (LeRobot v2.1) | |
| configs: | |
| - config_name: default | |
| data_files: | |
| - data/*/*.parquet | |
| # UR5e Dual RealSense Teleoperation Dataset | |
| This dataset was recorded using a UR5e robot with two Intel RealSense RGB cameras (wrist + front) | |
| and haptic teleoperation (Phantom Omni). It follows the **LeRobot v2.1** file layout. | |
| - **Videos** are referenced in `meta/info.json` using SO101-like keys: | |
| - `observation.images.front` | |
| - `observation.images.Wrist` | |
| - **Training data** is stored as per-episode Parquet files with the required schema: | |
| `action`, `observation.state`, `timestamp`, `frame_index`, `episode_index`, `index`, `task_index`. | |