andreaskoepf/dk1_duplo_disassembly_2026-04-04
This dataset was created using LeRobot. Dataset Description Bimanual duplo disassembly demonstrations with DK1 robot Robot: TRLC DK1 bimanual (bi_dk1_follower) — 2× 6-DOF arms with grippers Task: separate the duplo bricks Episodes: 42 Total frames: 86,441 (48.0 min @ 30 fps) Avg episode length: 68.6s License: apache-2.0 Cameras Camera Resolution Codec FPS observation.images.head 640x360 h264 30 observation.images.left_wrist 640x360 h264 30… See the full description on the dataset page: https://huggingface.co/datasets/andreaskoepf/dk1_duplo_disassembly_2026-04-04.
Re-encode videos with dense keyframes (libx264 crf 12, GOP=fps/2 -> 2 keyframes/s, sc_threshold 0; frame counts verified identical per file, SSIM ~0.995 vs source). Fixes ~1-keyframe-per-file encodes that made random-window decoding replay episodes from frame 0.
Fix to_timestamp: restore pts_offset term (recovers ~1.2s at end of each episode that LeRobot's video loader was dropping)
Add files using upload-large-folder tool
Add files using upload-large-folder tool
Add files using upload-large-folder tool
initial commit