Datasets:
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observation.state list | observation.gripper_width.umi1 float32 60.2 125 | observation.gripper_width.umi2 float32 81.5 119 | timestamp float32 0 44.2 | frame_index int64 0 1.33k | episode_index int64 0 64 | index int64 0 63.4k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
Filtered dual-LiDAR UMI demonstrations
Observation-only LeRobot v3 derivative of brandonyang/dual-lidar-umi-relative. It contains 65 demonstrations (63383 frames) that pass the complete continuous YAM replayability classification.
observation.state retains the original 12-D UMI Cartesian schema. Its values are the smoothed, trajectory-optimized YAM-achievable FK path mapped back into the UMI coordinate convention. Gripper observations, videos, timestamps, and tasks are preserved on the source-frame timeline. The action feature is intentionally absent.
See meta/filtering.json for source episode mapping and optimizer metadata. The collision test is a sampled-capsule proxy; exact scene validation remains required before robot playback.
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