Datasets:
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observation.state list | action list | observation.ee_target_position list | observation.cartesian_reference_position list | observation.distance_to_ee_target float32 0 0.35 | observation.cube_position list | observation.green_goal_position list | observation.joint_position list | observation.joint_velocity list | observation.pose_jacobian_singular_values list | observation.pose_jacobian_condition_number float32 8.58 22.8 | observation.minimum_joint_limit_margin float32 0.22 1.38 | collection_segment_index int64 0 23 | timestamp float32 0 5.2 | frame_index int64 0 104 | episode_index int64 0 499 | index int64 0 27.7k | task_index int64 0 499 |
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End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Description
Language-conditioned smooth point-to-point Panda end-effector trajectories in
robosuite LiftPlace. Episodes are continuous within each collection_segment_index: the cube and
green placement goal change between episodes without changing the robot state. If planning or
execution becomes unsafe, the incomplete episode is deleted and the Panda is reset to home before
the next segment begins. Each fixed-orientation straight path is screened with bounded
damped-least-squares IK before collection, then tracked as a quintic minimum-jerk Cartesian
reference. The green placement goal is scene context and is deliberately distinct from the
language-conditioned end-effector target.
Reproduction metadata
Dreamer Git commit:
766bdc378e2a15de7de30d1f1c28ab6991ea1bf6Dreamer worktree dirty:
FalseDreamer worktree SHA-256:
NoneDreamer provenance drift during collection:
FalseDreamer end-of-run Git commit:
766bdc378e2a15de7de30d1f1c28ab6991ea1bf6Dreamer end-of-run worktree dirty:
FalseDreamer end-of-run worktree SHA-256:
Noneuv.lockSHA-256:e7a7667144a24698a610ad8f0135b3f745c0cf807d777edee540bb7975ceb8d4LeRobot release:
0.6.0LeRobot release commit:
30da8e687a6dfc617fcd94afc367ac7071c376ceLeRobot dataset format:
v3.0Python:
3.13Seed:
0Saved collection segments: 24
Rejected episode attempts / recovery resets: 3
Maximum permitted recovery resets: 100
Regular home-reset interval: 25 episodes
Workspace: x=(-0.3, 0.3), y=(-0.3, 0.3), z=(0.95, 1.25) metres
Target quantization: 0.001 m
Minimum target displacement: 0.05 m
Maximum target displacement: 0.35 m
Endpoint tolerance: 0.002 m
Endpoint joint-velocity tolerance: 0.01 rad/s (L2 norm)
Motion profile: quintic minimum jerk (
10t^3 - 15t^4 + 6t^5)Maximum Cartesian reference speed: 0.2 m/s
Maximum Cartesian reference acceleration: 0.5 m/s^2
Maximum Cartesian reference jerk: 2.0 m/s^3
Minimum trajectory length: 20 steps
Maximum trajectory length: 300 steps
Minimum joint-limit margin: 0.2 rad
Minimum pose-Jacobian singular value: 0.08
Maximum pose-Jacobian condition number: 25.0
Preflight joint-limit margin: 0.25 rad
Preflight minimum pose-Jacobian singular value: 0.1
Preflight maximum pose-Jacobian condition number: 20.0
Shadow-rollout joint-limit margin: 0.22 rad
Shadow-rollout minimum pose-Jacobian singular value: 0.09
Shadow-rollout maximum pose-Jacobian condition number: 23.0
Kinematic path samples: 16
Control/video frequency: 20 Hz
Homepage: https://huggingface.co/datasets/dreamer-robot/liftplace-ee-xyz-500-v2
Paper: [More Information Needed]
License: apache-2.0
Dataset Structure
{
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"fps": 20,
"features": {
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"video.codec": "av1",
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"names": [
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"names": [
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"observation.minimum_joint_limit_margin": {
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"collection_segment_index": {
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"timestamp": {
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"frame_index": {
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"task_index": {
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},
"total_episodes": 500,
"total_frames": 27652,
"total_tasks": 500,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"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": "panda",
"splits": {
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}
}
Citation
BibTeX:
[More Information Needed]
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