brandonyang/dual-lidar-umi-relative-filtered
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… See the full description on the dataset page: https://huggingface.co/datasets/brandonyang/dual-lidar-umi-relative-filtered.
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.