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THULab/berkeley_cable_routing_lerobot

berkeley_cable_routing_lerobot (TsFile) Apache TsFile version of the LeRobot dataset ygtxr1997/berkeley_cable_routing_lerobot. Overview Berkeley cable-routing manipulation on a Franka arm. Robot: Franka Episodes: 1482 Frames: 38,240 Sampling rate: 10 fps Tasks: 1 Schema (TsFile structure) Time (INT64, milliseconds) — round(timestamp * 1000), restarting per episode. episode_index / task_index (TAG) — the device dimension. Query a single episode… See the full description on the dataset page: https://huggingface.co/datasets/THULab/berkeley_cable_routing_lerobot.

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berkeleycablerouting_lerobot (TsFile)

Apache TsFile version of the LeRobot dataset `ygtxr1997/berkeley_cable_routing_lerobot`.

Overview

Berkeley cable-routing manipulation on a Franka arm.

  • —Robot: Franka
  • —Episodes: 1482
  • —Frames: 38,240
  • —Sampling rate: 10 fps
  • —Tasks: 1

Schema (TsFile structure)

  • —Time (INT64, milliseconds) — round(timestamp * 1000), restarting per episode.
  • —episode_index / task_index (TAG) — the device dimension. Query a single episode with WHERE episode_index=N.
  • —FIELD — frame_index, sample_index, and the flattened state/action vectors (observation_state_0..7, action_0..6) as single-precision FLOAT.

The robot's four camera views are time-series-irrelevant and not uploaded to this repository; get them from the original dataset (its videos/ directory). The source meta/ is mirrored here.

Usage

Read the .tsfile files with the Apache TsFile Java or Python SDK.

Source & license