| ---
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| pretty_name: RealDatasets
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| ---
|
|
|
| # RealDatasets
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|
|
| This repository contains the original robot demonstrations and three converted
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| LeRobot v3 datasets.
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|
|
| ## Layout
|
|
|
| ```text
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| raw/
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| ├── 抓娃娃/
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| ├── 对折毛巾/
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| └── 放置绳子/
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|
|
| lerobot/
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| ├── pack_sloth/
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| ├── fold_cloth/
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| └── insert_rope/
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| ```
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|
|
| Each `lerobot/<task>/` directory is an independent LeRobot v3 dataset root.
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| Because the datasets are stored below repository subdirectories, download the
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| selected subdirectory and pass its local path as `root`.
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|
|
| ```python
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| from pathlib import Path
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|
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| from huggingface_hub import snapshot_download
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| from lerobot.datasets import LeRobotDataset
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|
|
| repo_root = Path(
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| snapshot_download(
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| repo_id="Zili2002/RealDatasets",
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| repo_type="dataset",
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| allow_patterns=["lerobot/pack_sloth/**"],
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| )
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| )
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|
|
| dataset = LeRobotDataset(
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| repo_id="Zili2002/RealDatasets",
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| root=repo_root / "lerobot" / "pack_sloth",
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| video_backend="pyav",
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| )
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| ```
|
|
|
| ## Converted data
|
|
|
| - Nominal timeline: 30 Hz
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| - Video resolution: 848x480
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| - `camera_2`: `observation.images.wrist`
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| - `camera_4`: `observation.images.front`
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| - Original 1920x1080 frames are center-cropped to 1908x1080 and resized
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| without changing the aspect ratio.
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|
|
| The source recordings contain timing gaps. Converted datasets preserve every
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| recorded image and expand each episode onto a strict 30 Hz timeline:
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|
|
| - real source frame: original image and `*_valid=true`
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| - missing slot: black image and `*_valid=false`
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| - missing slot state/action: NaN with their validity masks set to false
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| - `source.frame_index=-1` identifies an inserted slot
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|
|
| Consumers must filter invalid state/action rows before normalization, model
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| input, and loss computation. Multiplying NaN values by a zero mask is not
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| sufficient.
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|
|
| Each converted dataset also contains:
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|
|
| ```text
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| raw_video/record_NNN/
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| ├── camera_2_*.mp4
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| ├── camera_4_*.mp4
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| ├── frame_timestamps.json
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| └── timeline_30hz.json
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| ```
|
|
|
| `timeline_30hz.json` records the source-to-target frame mapping and the complete
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| image-validity mask. LeRobot normalization statistics are computed from valid
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| source rows only.
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|
|
| ## Features
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|
|
| - `observation.images.wrist`: video `[480, 848, 3]`
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| - `observation.images.front`: video `[480, 848, 3]`
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| - `observation.state`: float32 `[8]`
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| - `action`: float32 `[7]`
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| - `source.timestamp`: nominal 30 Hz Unix timestamp
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| - `source.timestamp_relative`: nominal 30 Hz episode-relative timestamp
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| - `source.original_timestamp`: real source timestamp, NaN for inserted rows
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| - `source.original_timestamp_relative`: real relative timestamp, NaN for inserted rows
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| - `source.frame_index`: source frame index, `-1` for inserted rows
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| - `observation.images.wrist_valid`
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| - `observation.images.front_valid`
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| - `observation.state_valid`
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| - `action_valid`
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|
|
