ar0s/kuka_heat_expert_abs_v2

KUKA heat reaction — expert, absolute actions (v2)

225 episodes, 66922 frames at 10 Hz. LeRobot codebase_version: v3.0. Source delta demonstrations: https://huggingface.co/datasets/ar0s/kukaheatreaction_expert

Cartesian actions are absolute targets reconstructed from the original controller command history, including IK anti-windup. The gripper remains absolute. Observations and videos are unchanged. Action statistics were recomputed. This replaces the incorrect measured-pose-plus-delta conversion. See meta/action_conversion.json for provenance and the numerical audit.

The expert copy excludes the extra simulator-state/performance columns for policy training. Evaluate with the corrected AutoLab controller and absolute_actions=true.

Action noise

There is none. Generated 2026-09-04, before the generator had any noise machinery: POSITION_NOISE first entered the repository 2026-09-06 and the DART clean_labels option 2026-09-08. The actions are a clean staircase from a proportional controller with a 0.020 m per-axis step cap — across the first 25 episodes, 15977 of 22185 action-delta components (72.0%) are exactly zero and the largest is exactly 0.020000011. A robust second-difference estimate of injected per-step jitter reads 0.000 mm on every axis.

Structure

data/chunk-000/file-000.parquet    actions, states, episode/frame index
meta/info.json                     features, fps, totals
meta/stats.json                    per-feature normalisation statistics
meta/tasks.parquet                 task strings
meta/episodes/                     per-episode index
meta/action_conversion.json        delta -> absolute conversion audit
videos/                            wrist_left and front_center, AV1, 480x640