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mateoguaman
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language_table_blocktoabsolute_oracle_sim

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Robotics
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10M - 100M
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observation.state
list
observation.effector_target_translation
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action
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End of preview. Expand in Data Studio

This dataset was created using LeRobot.

It is a LeRobot v3.0 conversion of the language_table_blocktoabsolute_oracle_sim dataset from the Language Table project (Google Research).

The original RLDS data was streamed from gs://gresearch/robotics/language_table_blocktoabsolute_oracle_sim/0.0.1/, converted to LeRobot v2.0 format preserving all fields (action, state, effector target, reward, done, instruction), then restructured to v3.0 with lossless video concatenation.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "xarm",
    "total_episodes": 200000,
    "total_frames": 15666385,
    "total_tasks": 992,
    "chunks_size": 1000,
    "fps": 10,
    "splits": {
        "train": "0:200000"
    },
    "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.images.rgb": {
            "dtype": "video",
            "shape": [
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            "names": [
                "height",
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                "channels"
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            "video_info": {
                "video.fps": 10.0,
                "video.height": 360,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "libx264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                2
            ],
            "names": {
                "motors": [
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                ]
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            "fps": 10
        },
        "observation.effector_target_translation": {
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            "names": {
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        "action": {
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            "names": {
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        "next.reward": {
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        "next.done": {
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        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        "task_index": {
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    },
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200
}
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Homepage:
github.com
Paper:
arxiv.org
License:
apache-2.0
Number of rows:
15,666,385
Total file size:
12.6 GB

Paper for mateoguaman/language_table_blocktoabsolute_oracle_sim