griffinlabs/Galaxea-Open-World-Dataset-LeRobot-v3.0

Galaxea Open-World Dataset taken from OpenGalaxea/Galaxea-Open-World-Dataset, converted to LeRobot Datasets v3.0 format using lerobot.datasets.v30.convert_dataset_v21_to_v30.

Missing subsets

The subset Boil_The_Water_20250714_006 is missing due to the original files having some episodes at 62 fps, which causes the conversion script to crash with an error.

The subset Put_The_Items_Into_The_Storage_Box_20250929_002_007 is missing due to it having 7 DoF arms rather than 6 DoF.

Approximate no-torso-movement subsets

The /no-torso-subsets.txt file contains a list of 110 subsets that mostly exclude torso movement. There are still some torso movements included nonetheless. The subsets are selected by the criterion \\(\lVert \text{subset-level torso velocity mean} \rVert 1 + \lVert \text{subset-level torso velocity standard deviation} \rVert 1 < 0.03\\).

The 0.03 threshold was chosen by trial-and-error with manual inspection / eyeballing of subsets near those values.

Dirty episodes

Among the no-torso-movement subsets, some subsets contain episodes where we encountered errors loading the corresponding video.

To document this so that those episodes may be skipped during training, we added a meta/removed_episodes.json file to each affected subset's directory.

We did not check outside of the no-torso-movement subsets.

Task config

The no-torso-movement subsets also each have a task_config.json file with two fields:

• —"coarse_task_as_main_task": whether the subset's coarse task is deemed good enough to replace the fine task as the main task, and have the fine task be subtasks instead.
• —"rename_coarse_task": when used as the main task, the coarse task text should be replaced with this text if not null. If null, make no change.

Arm-and-gripper-only subsets

The /arm-and-gripper-only-subsets.txt file contains a list of 76 subsets that additionally mostly exclude chassis movement. There are still some chassis movements included nonetheless. The subsets are selected by the criterion: \\(\lVert \text{subset-level chassis velocity mean} \rVert 1 + \lVert \text{subset-level chassis velocity standard deviation} \rVert 1 < 0.03\\).

This 0.03 threshold was also chosen by trial-and-error with manual inspection / eyeballing of subsets near those values.