Search is not available for this dataset
base_image imagewidth (px) 224 224 | wrist_image imagewidth (px) 224 224 | overview_image imagewidth (px) 224 224 | state list | actions list | timestamp float32 0 48.5 | frame_index int64 0 485 | episode_index int64 0 74 | index int64 0 32.9k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
KinDER Shelf + Sweep in LeRobot format (for OpenPi pi05)
The 206 official KinDER teleoperated demos (kinder-bench/kinder-datasets:
shelf3d_106_new.hdf5 + sweep3d_100.hdf5) converted to LeRobot, as used to train
the pi05 checkpoints in rchu233/pi05-kinder. Converters and configs:
GitHub RobertCHU01/adaptive-reasoning, experiments/openpi_kinder/. Notes:
project_knowledge/openpi_pi05_kinder.md, project_knowledge/kinder_subgoal_points.md.
| Path | Episodes / frames | Size | Content |
|---|---|---|---|
kinder/shelf_sweep_human/ |
206 / 98,339 | 13 GB | base_image, wrist_image, overview_image (224×224), state (22), actions (11), task-level prompt |
kinder/shelf_sweep_subgoal/ |
201 / 96,185 | 12 GB | same frames minus the 5 failed Shelf demos; per-frame task = current subgoal, plus d_base, point_3d, point_3d_valid, ee, end-effector targets |
assets/<config>/kinder/<dataset>/norm_stats.json |
norm stats of each OpenPi config (pi05_kinder, pi05_kinder_rel, pi05_kinder_subgoal, pi05_kinder_subgoal_eef) |
Each dataset folder has kinder_sources.json mapping episode_index to the source
HDF5 file and demo. fps 10. state = base x, y, yaw, 7 FR3 joints, gripper, then their
11 velocities. actions = base and joint deltas plus an absolute gripper value.
Use with OpenPi
The configs use the repo ids kinder/shelf_sweep_human and kinder/shelf_sweep_subgoal,
so download into $HF_LEROBOT_HOME and the paths line up:
export HF_LEROBOT_HOME=<data_dir>/lerobot
hf download rchu233/kinder-lerobot --repo-type dataset --local-dir $HF_LEROBOT_HOME
# norm stats: copy assets/ to the OpenPi assets dir the configs point at
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