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Datasets:
saaduddinM
/
rbo_oxe_base_language_table_lerobot

Tasks:
Robotics
Tags:
LeRobot
language_table
rlds
openx
xarm
License:
Dataset card Data Studio Files
xet
Community
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observation.state
list
action
list
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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[ -0.00667765736579895, 0.0687941312789917, 0, 0, 0, 0, 1 ]
0.2
2
4
125
36,113
[ 0.4612233340740204, 0.007560706697404385, 0, 0, 0, 0, 0, 0 ]
[ -0.0071239173412323, 0.02718242257833481, 0, 0, 0, 0, 1 ]
0.3
3
4
126
36,113
[ 0.4593132734298706, 0.02997743710875511, 0, 0, 0, 0, 0, 0 ]
[ -0.023730754852294922, 0.012094425037503242, 0, 0, 0, 0, 1 ]
0.4
4
4
127
36,113
[ 0.43815892934799194, 0.04434492066502571, 0, 0, 0, 0, 0, 0 ]
[ -0.012251436710357666, -0.0064657703042030334, 0, 0, 0, 0, 1 ]
0.5
5
4
128
36,113
[ 0.4335310757160187, 0.03795201703906059, 0, 0, 0, 0, 0, 0 ]
[ -0.01895284652709961, 0.004997614771127701, 0, 0, 0, 0, 1 ]
0.6
6
4
129
36,113
[ 0.4119364321231842, 0.0397673062980175, 0, 0, 0, 0, 0, 0 ]
[ 0.0053862035274505615, 0.009242162108421326, 0, 0, 0, 0, 1 ]
0.7
7
4
130
36,113
[ 0.41683700680732727, 0.04740583524107933, 0, 0, 0, 0, 0, 0 ]
[ -0.007795840501785278, 0.004020318388938904, 0, 0, 0, 0, 1 ]
0.8
8
4
131
36,113
[ 0.41401827335357666, 0.05073348432779312, 0, 0, 0, 0, 0, 0 ]
[ -0.023746401071548462, 0.0003555677831172943, 0, 0, 0, 0, 1 ]
0.9
9
4
132
36,113
[ 0.3971703350543976, 0.052644841372966766, 0, 0, 0, 0, 0, 0 ]
[ -0.016655683517456055, -0.019344165921211243, 0, 0, 0, 0, 1 ]
1
10
4
133
36,113
[ 0.3805942237377167, 0.04298491030931473, 0, 0, 0, 0, 0, 0 ]
[ -0.0014008879661560059, -0.05353927984833717, 0, 0, 0, 0, 1 ]
1.1
11
4
134
36,113
[ 0.37938836216926575, 0.010258153080940247, 0, 0, 0, 0, 0, 0 ]
[ -0.0036222636699676514, -0.0707525759935379, 0, 0, 0, 0, 1 ]
1.2
12
4
135
36,113
End of preview.

Language Table (LeRobot) — Task-Pruned, Reindexed Subset

This release is a task-pruned subset of the original IPEC-COMMUNITY/language_table_lerobot. We subsampled by task text and rebuilt the package so it remains internally consistent (indices, splits, stats, paths).

  • Robot: xArm
  • Modality: RGB video + states + actions
  • FPS / Resolution: 10 FPS, 360×640, AV1
  • License: apache-2.0 (inherits from source)

What’s different in this subset

  • Kept ~0.85% of unique tasks (uniform random over task strings).
  • Capped at ≤ 8 trajectories per kept task.
  • Unified camera key to observation.images.image (source often used observation.images.rgb).
  • Reindexed episodes to [0..N-1] and rewrote episode_index in each Parquet; rebuilt task_index from task text.
  • Rebuilt meta/:
    • info.json (totals, splits, chunk counts),
    • tasks.jsonl (compact mapping of task text → task_index),
    • episodes.jsonl (new indices/paths/lengths with source_episode_index provenance),
    • stats.json (numeric columns recomputed from kept data; image stats under the unified key).

Pixels live in MP4s under videos/.../{video_key}/...; Parquet holds numeric/time-series only.

Dataset Description

This dataset was created using LeRobot.

Quick stats (this release)

  • Episodes: 222,845
  • Frames: 3,637,100
  • Tasks (unique): 108,446
  • Videos: 222,845 (one per episode)
  • Chunks: 223 (with chunks_size=1000)
  • FPS: 10

Dataset Structure

meta/info.json:

{
  "codebase_version": "v2.0",
  "robot_type": "xarm",
  "total_episodes": 222845,
  "total_frames": 3637100,
  "total_tasks": 108446,
  "total_videos": 222845,
  "total_chunks": 223,
  "chunks_size": 1000,
  "fps": 10,
  "splits": {
    "train": "0:222845"
  },
  "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
  "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
  "features": {
    "observation.state": {
      "dtype": "float32",
      "shape": [
        8
      ],
      "names": {
        "motors": [
          "x",
          "y",
          "z",
          "roll",
          "pitch",
          "yaw",
          "pad",
          "gripper"
        ]
      }
    },
    "action": {
      "dtype": "float32",
      "shape": [
        7
      ],
      "names": {
        "motors": [
          "x",
          "y",
          "z",
          "roll",
          "pitch",
          "yaw",
          "gripper"
        ]
      }
    },
    "timestamp": {
      "dtype": "float32",
      "shape": [
        1
      ],
      "names": null
    },
    "frame_index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null
    },
    "episode_index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null
    },
    "index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null
    },
    "task_index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null
    },
    "observation.images.image": {
      "dtype": "video",
      "shape": [
        360,
        640,
        3
      ],
      "names": [
        "height",
        "width",
        "rgb"
      ],
      "info": {
        "video.fps": 10.0,
        "video.height": 360,
        "video.width": 640,
        "video.channels": 3,
        "video.codec": "av1",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "has_audio": false
      }
    }
  }
}
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