83 episodes · 30 fps · 4 cameras · 640×480 av1
This dataset was created using LeRobot.
Relative-action variant. Action normalization statistics are stored in relative space (arm joints relative to the current state; grippers kept absolute). Train with relative actions enabled so normalization matches the data:
lerobot-train \ --dataset.repo_id=TrossenRoboticsCommunity/stationary-organize-tools-converted-v3-relative \ --policy.type=pi05 \ --policy.use_relative_actions=true \ --policy.relative_exclude_joints="['carriage']"
Dataset Structure
{
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"robot_type": "bimanual_widowxai",
"total_episodes": 83,
"total_frames": 111785,
"total_tasks": 1,
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"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
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},
"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": {
"action": {
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"left_joint_0.pos",
"left_joint_1.pos",
"left_joint_2.pos",
"left_joint_3.pos",
"left_joint_4.pos",
"left_joint_5.pos",
"left_left_carriage_joint.pos",
"right_joint_0.pos",
"right_joint_1.pos",
"right_joint_2.pos",
"right_joint_3.pos",
"right_joint_4.pos",
"right_joint_5.pos",
"right_left_carriage_joint.pos"
],
"shape": [
14
]
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"observation.images.cam_left_wrist": {
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"observation.images.cam_low": {
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"observation.state": {
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"names": [
"left_joint_0.pos",
"left_joint_1.pos",
"left_joint_2.pos",
"left_joint_3.pos",
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"left_joint_5.pos",
"left_left_carriage_joint.pos",
"right_joint_0.pos",
"right_joint_1.pos",
"right_joint_2.pos",
"right_joint_3.pos",
"right_joint_4.pos",
"right_joint_5.pos",
"right_left_carriage_joint.pos"
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}
}
Citation
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