1 episodes · 30 fps · 1 camera · 640×480 av1
NYUSH Panthera teleoperation
LeRobot dataset generated with the official dataset writer at 30 FPS.
observation.images.realsense: RGB, 640 x 480, encoded video.observation.state: six follower joint angles and gripper motor angle, radians.action: actual follower command target angles after position/speed limits, radians.- Task text is a generic teleoperation label, not a manually annotated task.
- Host-time synchronization: nearest RGB (<=35 ms), latest state (<=50 ms), latest command (<=80 ms).
- Source timestamps are retained as int64 nanoseconds. No hardware synchronization.
- Legacy episode actions recovered from matching approximately 20 Hz teleop logs use zero-order hold.
Per-episode provenance and measured alignment deltas are in
source_episodes.json. - Raw MCAP and CSV remain on the capture computer. This repository contains the training export.
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