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Datasets:
DaivdYuan
/
exumi-pick-brocolli-lerobot

Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
robotics
lerobot
manipulation
exumi
nmotion-initiative
Libraries:
Datasets
Dask
Polars
License:
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xet
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observation.state
list
action
list
timestamp
float32
0
17.4
⌀
frame_index
int64
0
522
⌀
episode_index
int64
0
59
⌀
index
int64
0
26.3k
⌀
task_index
int64
0
0
⌀
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2
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2.8
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2.9
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3
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3.1
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[ -0.005392960738390684, 0.20952115952968597, 0.11108852922916412, -0.49076518416404724, 2.509679079055786, 0.059025444090366364, 0.09198429435491562 ]
3.166667
95
0
95
0
[ -0.0055272080935537815, 0.2099350094795227, 0.1103050485253334, -0.49347662925720215, 2.511329174041748, 0.06157656013965607, 0.09177100658416748 ]
[ -0.0055272080935537815, 0.2099350094795227, 0.1103050485253334, -0.49347662925720215, 2.511329174041748, 0.06157656013965607, 0.09177100658416748 ]
3.2
96
0
96
0
[ -0.005662445444613695, 0.21034760773181915, 0.10952320694923401, -0.49618977308273315, 2.512974977493286, 0.0641302540898323, 0.09155771136283875 ]
[ -0.005662445444613695, 0.21034760773181915, 0.10952320694923401, -0.49618977308273315, 2.512974977493286, 0.0641302540898323, 0.09155771136283875 ]
3.233333
97
0
97
0
[ -0.00579865975305438, 0.2107589691877365, 0.10874304175376892, -0.49890464544296265, 2.5146169662475586, 0.06668651103973389, 0.09134441614151001 ]
[ -0.00579865975305438, 0.2107589691877365, 0.10874304175376892, -0.49890464544296265, 2.5146169662475586, 0.06668651103973389, 0.09134441614151001 ]
3.266667
98
0
98
0
[ -0.005198836792260408, 0.21135613322257996, 0.10441269725561142, -0.5130667686462402, 2.5188865661621094, 0.055193204432725906, 0.09038152545690536 ]
[ -0.005198836792260408, 0.21135613322257996, 0.10441269725561142, -0.5130667686462402, 2.5188865661621094, 0.055193204432725906, 0.09038152545690536 ]
3.3
99
0
99
0
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Overview

This dataset is a conversion from an upstream robotics dataset into LeRobot v3-compatible format. It is intended to provide reproducible access in a unified schema.

Source Dataset

Dataset Format

  • Storage format: LeRobot v3 parquet-based dataset
  • Total episodes: 30
  • Total frames: 13137
  • FPS: 30
  • Robot type: generic_robot
  • Observation feature: observation.state with shape [7]
  • Action feature: action with shape [7]
  • Video streams: present

Video Modalities

  • observation.images.camera0_rgb: shape [224, 224, 3]
  • Frame rate: 30 FPS

Conversion Notes

  • Target schema: LeRobot v3
  • Conversion path: ingest -> preprocess -> zarr probe -> convert 1 episode -> upload
  • action fallback may be used when upstream data/action is missing.

Dataset Structure

meta/info.json:

{
  "codebase_version": "v3.0",
  "robot_type": "generic_robot",
  "total_episodes": 30,
  "total_frames": 13137,
  "fps": 30,
  "splits": {"train": "0:30"},
  "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",
  "features": {
    "observation.state": {"dtype": "float32", "shape": [7]},
    "action": {"dtype": "float32", "shape": [7]}
  }
}

Data Splits

  • {'train': '0:30'}

Citation

This dataset was created using LeRobot. Please also cite the original upstream project and paper listed above.

Attribution

  • Original dataset credit remains with upstream creators.
  • Conversion and curation contribution:
    • Convertor: David Yuan, davidy02@stanford.edu, Stanford University
    • NMotion Initiative (opensource community): we make embodied data accessible
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