chomeed/mimicgen_threading_d0_224x224_mtdit_flow_55k_failure_insertcam
This dataset was created using LeRobot. Dataset Structure meta/info.json: { "codebase_version": "v3.0", "fps": 20, "features": { "action": { "dtype": "float32", "shape": [ 7 ] }, "observation.state": { "dtype": "float32", "shape": [ 37 ] }, "observation.sim_state": { "dtype": "float32", "shape":… See the full description on the dataset page: https://huggingface.co/datasets/chomeed/mimicgen_threading_d0_224x224_mtdit_flow_55k_failure_insertcam.
This dataset was created using LeRobot.
<a class="flex" href="https://huggingface.co/spaces/lerobot/visualizedataset?path=chomeed/mimicgenthreadingd0224x224mtditflow55kfailure"> <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/> <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/> </a>
Dataset Description
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: cc-by-4.0
Dataset Structure
meta/info.json:
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"total_episodes": 100,
"total_frames": 40000,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"robot_type": "Panda",
"splits": {
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}
}Citation
BibTeX:
[More Information Needed]Added camera: observation.images.insertion
A third 224x224 view rendered by sim-state replay, on top of the original agentview and eye_in_hand. The existing wrist camera looks straight down the gripper axis, so the tripod's bore is never visible; this one is placed to look through it, which is what makes needle-to-hole alignment readable rather than inferred.
The mount is a single fixed pose in the robot0_right_hand body frame, solved once by aiming at the needle/tripod midpoint at the closest-approach frame of episode 0 (az 260 deg, elev 15 deg, r 0.15 m) and reused unchanged for every episode of all three splits, so the three datasets share one camera.
camposlocal = [-0.19815, -0.035687, 0.078038] camquatlocal = [-0.322727, 0.517794, 0.611714, -0.50353] # w, x, y, z
Also in meta/insertion_camera.json. Encoded to match the existing views exactly (AV1, yuv420p, 20 fps, crf 30), and the per-episode video timestamps reproduce the source agentview values.
Known limitation: the mount is rigid to a moving hand, so for roughly the first half of each episode the tripod is out of frame. It is an insertion-phase view, and is meant to be used alongside the other two cameras, not instead of them.