1.04k episodes · 15 fps · 3 cameras · 640×480 av1
This dataset was created using LeRobot.
Dataset Description
RBY1 mirrored manipulation dataset converted from joint-space actions/states to Cartesian end-effector pose features (rpy). Both action and observation.state contain right/left end-effector poses plus gripper values. No arm joint values are kept in action or observation.state; IK validation checks Cartesian pose reconstruction only because 7-DOF arm joint configurations are not uniquely determined by a 6D pose.
- License: apache-2.0
Dataset Structure
{
"codebase_version": "v3.0",
"fps": 15,
"features": {
"action": {
"dtype": "float32",
"shape": [
14
],
"names": [
"right_x",
"right_y",
"right_z",
"right_roll",
"right_pitch",
"right_yaw",
"left_x",
"left_y",
"left_z",
"left_roll",
"left_pitch",
"left_yaw",
"right_gripper_0",
"left_gripper_0"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
14
],
"names": [
"right_x",
"right_y",
"right_z",
"right_roll",
"right_pitch",
"right_yaw",
"left_x",
"left_y",
"left_z",
"left_roll",
"left_pitch",
"left_yaw",
"right_gripper_0",
"left_gripper_0"
]
},
"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": 15,
"video.channels": 3,
"has_audio": false
}
},
"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": 15,
"video.channels": 3,
"has_audio": false
}
},
"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": 15,
"video.channels": 3,
"has_audio": false
}
},
"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
}
},
"total_episodes": 1041,
"total_frames": 212780,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 15,
"video_files_size_in_mb": 2951,
"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",
"robot_type": "rby1",
"splits": {
"train": "0:1041"
}
}
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