Search is not available for this dataset
observation.state list | action list | timestamp float32 0 28.5 ⌀ | frame_index int64 0 285 ⌀ | episode_index int64 0 49 ⌀ | index int64 0 7.86k ⌀ | task_index int64 0 0 ⌀ |
|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
Crimson First Dataset
Real-robot right-arm teleoperation demonstrations, exported with the official LeRobot 0.6.1 dataset writer for subsequent X-VLA adaptation.
Selection
Requested raw source episodes: 4 through 55 inclusive from
pilot_right_20260924. Raw episode 10 was labeled discarded; raw episode 19
was labeled failure. Neither is included or relabeled. The remaining 50
successful episodes, 7,860 aligned rows at 10 Hz, passed the converter's
timestamp/freshness, finite-vector, recorder-loss and identity checks.
Export episode indices are consecutive 0–49, not original raw episode numbers.
genome_conversion.json preserves source order and per-episode validation reports.
Features
observation.state: 8 float32 values: right J1–J7 measured positions (radians), then measured right gripper servo position (radians).action: 8 float32 values: right J1–J7 absolute runtime commanded positions (radians), then the gripper command actually applied (0=open, 1=close).observation.images.top: RGB video fromcam_high.observation.images.right_wrist: RGB video fromcam_wrist.- Both images are 640×480. The third raw camera is not part of this export.
- Task text is inherited from session metadata, with LeRobot task indices.
Alignment selects the most recent source sample at or before each 10 Hz row. Actions represent same-row runtime commands, not next measured joint positions. Multi-turn joint angles are preserved. Idle periods are not automatically trimmed. Raw camera recordings were about 15 Hz; exported videos are aligned to 10 Hz.
Intended use and limitations
Use X-VLA's configurable action representation (action_mode=auto) with an
8-dimensional real action vector, not a fixed 14-dimensional joint mode.
Preserve the documented joint order, units and camera mapping in deployment.
Measured gripper state and binary gripper action intentionally have different units.
These are right-arm demonstrations, not bimanual training samples. Validation of file structure and alignment does not establish task diversity, generalization, physical accuracy, model training convergence or safe autonomous deployment. No X-VLA model forward pass or training result is claimed.
Keep the Hugging Face repository private as requested by the data owner. No redistribution license is assigned here; obtain permission from the owner. No train/validation split has been imposed. Split by complete episodes rather than random individual frames to avoid leakage.
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