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observation.state
list
action
list
observation.feetech.left_ticks
int64
observation.feetech.left_width_mm
float32
observation.feetech.left_normalized
float32
observation.feetech.right_ticks
int64
observation.feetech.right_width_mm
float32
observation.feetech.right_normalized
float32
observation.feetech.sample_time_ns
int64
observation.feetech.sequence
int64
observation.feetech.healthy
int64
observation.tracking.left_device_controller_pose
list
observation.tracking.left_tracked
int64
observation.tracking.right_device_controller_pose
list
observation.tracking.right_tracked
int64
observation.tracking.device_hmd_pose
list
observation.tracking.workspace_from_device_pose
list
observation.tracking.device_time_ns
int64
observation.tracking.pc_monotonic_ns
int64
observation.tracking.aligned_time_ns
int64
observation.tracking.sequence
int64
observation.valid
list
observation.sync.target_time_ns
int64
observation.sync.record_time_ns
int64
observation.camera.left_wrist.sample_time_ns
int64
observation.camera.left_wrist.sequence
int64
observation.camera.left_wrist.healthy
int64
observation.camera.right_wrist.sample_time_ns
int64
observation.camera.right_wrist.sequence
int64
observation.camera.right_wrist.healthy
int64
observation.camera.workspace.sample_time_ns
int64
observation.camera.workspace.sequence
int64
observation.camera.workspace.healthy
int64
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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80,866,462,405,228
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80,866,421,980,796
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0.066667
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2
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3
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End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Description

HandUMI dataset merged locally from 3 recording sessions: local/tblock, local/tblock3_clean, local/tblock4_clean. Tasks: put the t block in the puzzle.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "handumi_raw",
    "total_episodes": 201,
    "total_frames": 53834,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:201"
    },
    "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.left_wrist": {
            "dtype": "video",
            "shape": [
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                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
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            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
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    }
}

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