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Datasets:
Xense
/
TW-block-sort-0918

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
100K - 1M
Tags:
LeRobot
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
xet
 Community
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float32
0
63.9
frame_index
int64
0
1.92k
episode_index
int64
0
110
index
int64
0
142k
task_index
int64
0
0
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2.9
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2.966667
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End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "tianji_arm_wuji",
    "total_episodes": 111,
    "total_frames": 141718,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:111"
    },
    "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": {
            "dtype": "float32",
            "names": [
                "left_tcp.x",
                "left_tcp.y",
                "left_tcp.z",
                "left_tcp.r1",
                "left_tcp.r2",
                "left_tcp.r3",
                "left_tcp.r4",
                "left_tcp.r5",
                "left_tcp.r6",
                "right_tcp.x",
                "right_tcp.y",
                "right_tcp.z",
                "right_tcp.r1",
                "right_tcp.r2",
                "right_tcp.r3",
                "right_tcp.r4",
                "right_tcp.r5",
                "right_tcp.r6",
                "l_index_finger_mcp_flex.pos",
                "l_index_finger_mcp_abd.pos",
                "l_index_finger_pip.pos",
                "l_index_finger_dip.pos",
                "l_middle_finger_mcp_flex.pos",
                "l_middle_finger_mcp_abd.pos",
                "l_middle_finger_pip.pos",
                "l_middle_finger_dip.pos",
                "l_pinky_mcp_flex.pos",
                "l_pinky_mcp_abd.pos",
                "l_pinky_pip.pos",
                "l_pinky_dip.pos",
                "l_ring_finger_mcp_flex.pos",
                "l_ring_finger_mcp_abd.pos",
                "l_ring_finger_pip.pos",
                "l_ring_finger_dip.pos",
                "l_thumb_cmc_flex.pos",
                "l_thumb_cmc_abd.pos",
                "l_thumb_mcp.pos",
                "l_thumb_ip.pos",
                "r_index_finger_mcp_flex.pos",
                "r_index_finger_mcp_abd.pos",
                "r_index_finger_pip.pos",
                "r_index_finger_dip.pos",
                "r_middle_finger_mcp_flex.pos",
                "r_middle_finger_mcp_abd.pos",
                "r_middle_finger_pip.pos",
                "r_middle_finger_dip.pos",
                "r_pinky_mcp_flex.pos",
                "r_pinky_mcp_abd.pos",
                "r_pinky_pip.pos",
                "r_pinky_dip.pos",
                "r_ring_finger_mcp_flex.pos",
                "r_ring_finger_mcp_abd.pos",
                "r_ring_finger_pip.pos",
                "r_ring_finger_dip.pos",
                "r_thumb_cmc_flex.pos",
                "r_thumb_cmc_abd.pos",
                "r_thumb_mcp.pos",
                "r_thumb_ip.pos"
            ],
            "shape": [
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        },
        "observation.state": {
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            "names": [
                "left_tcp.x",
                "left_tcp.y",
                "left_tcp.z",
                "left_tcp.r1",
                "left_tcp.r2",
                "left_tcp.r3",
                "left_tcp.r4",
                "left_tcp.r5",
                "left_tcp.r6",
                "right_tcp.x",
                "right_tcp.y",
                "right_tcp.z",
                "right_tcp.r1",
                "right_tcp.r2",
                "right_tcp.r3",
                "right_tcp.r4",
                "right_tcp.r5",
                "right_tcp.r6",
                "l_index_finger_mcp_flex.pos",
                "l_index_finger_mcp_abd.pos",
                "l_index_finger_pip.pos",
                "l_index_finger_dip.pos",
                "l_middle_finger_mcp_flex.pos",
                "l_middle_finger_mcp_abd.pos",
                "l_middle_finger_pip.pos",
                "l_middle_finger_dip.pos",
                "l_pinky_mcp_flex.pos",
                "l_pinky_mcp_abd.pos",
                "l_pinky_pip.pos",
                "l_pinky_dip.pos",
                "l_ring_finger_mcp_flex.pos",
                "l_ring_finger_mcp_abd.pos",
                "l_ring_finger_pip.pos",
                "l_ring_finger_dip.pos",
                "l_thumb_cmc_flex.pos",
                "l_thumb_cmc_abd.pos",
                "l_thumb_mcp.pos",
                "l_thumb_ip.pos",
                "r_index_finger_mcp_flex.pos",
                "r_index_finger_mcp_abd.pos",
                "r_index_finger_pip.pos",
                "r_index_finger_dip.pos",
                "r_middle_finger_mcp_flex.pos",
                "r_middle_finger_mcp_abd.pos",
                "r_middle_finger_pip.pos",
                "r_middle_finger_dip.pos",
                "r_pinky_mcp_flex.pos",
                "r_pinky_mcp_abd.pos",
                "r_pinky_pip.pos",
                "r_pinky_dip.pos",
                "r_ring_finger_mcp_flex.pos",
                "r_ring_finger_mcp_abd.pos",
                "r_ring_finger_pip.pos",
                "r_ring_finger_dip.pos",
                "r_thumb_cmc_flex.pos",
                "r_thumb_cmc_abd.pos",
                "r_thumb_mcp.pos",
                "r_thumb_ip.pos",
                "left_joint_1.pos",
                "left_joint_2.pos",
                "left_joint_3.pos",
                "left_joint_4.pos",
                "left_joint_5.pos",
                "left_joint_6.pos",
                "left_joint_7.pos",
                "left_joint_1.vel",
                "left_joint_2.vel",
                "left_joint_3.vel",
                "left_joint_4.vel",
                "left_joint_5.vel",
                "left_joint_6.vel",
                "left_joint_7.vel",
                "right_joint_1.pos",
                "right_joint_2.pos",
                "right_joint_3.pos",
                "right_joint_4.pos",
                "right_joint_5.pos",
                "right_joint_6.pos",
                "right_joint_7.pos",
                "right_joint_1.vel",
                "right_joint_2.vel",
                "right_joint_3.vel",
                "right_joint_4.vel",
                "right_joint_5.vel",
                "right_joint_6.vel",
                "right_joint_7.vel"
            ],
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        },
        "observation.images.head": {
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                "video.width": 640,
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                "video.pix_fmt": "yuv420p",
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
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                "video.extra_options": {
                    "bf": 0
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        },
        "observation.images.head_depth": {
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                "is_depth_map": true,
                "depth_unit": "m",
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                "video.codec": "hevc",
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                "video.extra_options": {
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                "video.depth_min": 0.3,
                "video.depth_max": 3.0,
                "video.shift": 3.5,
                "video.use_log": false,
                "video.depth_invalid_code": 0
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        },
        "observation.images.left_wrist": {
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Citation

BibTeX:

@misc{vertax2026lerobotxense,
    author = {vertax42 and Xense Robotics Team},
    title = {LeRobot-Xense: LeRobot with Xense Tactile Robotics Support},
    howpublished = {\url{https://github.com/Vertax42/lerobot-xense}},
    year = {2026}
}
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