Datasetpublic

rllab-postech/pretrain_aiworker_bh5_sh5_hand_lance

rllab-postech/pretrain_aiworker_bh5_sh5_hand_lance Merged BH5/SH5 dual-hand 54D pretraining dataset in RLLAB published Lance layout. Tables Table Purpose data/episodes.lance Published episode table, one row per episode, no video blob columns. data/train_episodes.lance Training trajectory table named by manifest.json.primary_training_table; no video blob columns. data/frames.lance Frame-level QA/index table with remapped global frame indices.… See the full description on the dataset page: https://huggingface.co/datasets/rllab-postech/pretrain_aiworker_bh5_sh5_hand_lance.

sourceHugging Faceotherupdated 4mo agoView on Hugging Face

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Dataset Card

rllab-postech/pretrainaiworkerbh5sh5hand_lance

Merged BH5/SH5 dual-hand 54D pretraining dataset in RLLAB published Lance layout.

Tables

Table	Purpose
`data/episodes.lance`	Published episode table, one row per episode, no video blob columns.
`data/train_episodes.lance`	Training trajectory table named by `manifest.json.primary_training_table`; no video blob columns.
`data/frames.lance`	Frame-level QA/index table with remapped global frame indices.
`data/videos.lance`	Canonical media table; `video_blob` stores one MP4 per episode/camera.

Summary

—Source datasets: 9
—Episodes: 189
—Frames: 73348
—Videos: 189
—Action/state dim: 54 / 54
—FPS values: 10.0
—Format: rllabpublishedlancedatasetv2 / schema 2.0
—Blob storage: lance.blob.v2 (inlinebytesonly)

Quality Filters

—Min FPS: 10.0
—Max FPS: 30.0
—Min episode frames: 30
—Max episode frames: disabled
—Drop wrist-only episodes: False
—Required camera keys: none
—Require any camera keys: none
—Kept camera keys: all
—Filtered episodes: 0

Each Lance row carries provenance columns such as source_dataset, source_repo_id, source_dataset_url, source_local_path, source_episode_index, source_robot_type, and pretrain_tier. data/videos.lance also keeps source_video_table, source_media_id, and source_relative_path while storing the canonical copied MP4 blob used by viewers and training.

Sources

Source dataset	Robot type	Tier	Episodes	Frames	Videos	FPS	Quality
learner1119/ffw_sh5_rev1_20260503_pick_up_a_red_cylinder_and_place_it_on_the_basket	`ffw_sh5_rev1`	``	14	3438	14	10.0	`ok`
learner1119/ffw_sh5_rev1_ffw_sh5_rev1_20260503_trial3_pick_up_a_red_cylinder_and_place_it_on_the_basket	`ffw_sh5_rev1`	``	20	5202	20	10.0	`ok`
learner1119/ffw_sh5_rev1_ffw_sh5_rev1_20260503_trial4_pick_up_a_red_cylinder_and_place_it_on_the_basket	`ffw_sh5_rev1`	``	20	6788	20	10.0	`ok`
learner1119/ffw_sh5_rev1_ffw_sh5_rev1_20260503_trial5_pick_up_a_red_cylinder_and_place_it_on_the_basket	`ffw_sh5_rev1`	``	20	4372	20	10.0	`ok`
learner1119/ffw_sh5_rev1_pick_white_cup	`ffw_sh5_rev1`	``	5	1927	5	10.0	`ok`
learner1119/ffw_sh5_rev1_posco_0602	`ffw_sh5_rev1`	``	2	1493	2	10.0	`ok`
learner1119/ffw_sh5_rev1_psc_0603_merge	`ffw_sh5_rev1`	``	10	3768	10	10.0	`ok`
learner1119/merge_ffw_sh5_rev1_20260504_pick_up_a_red_cylinder_and_place_it_on_the_basket	`ffw_sh5_rev1`	``	60	15090	60	10.0	`ok`
y0-0n/ffw_bh5_rev1_white_box_gr00t_1	`ffw_bh5_rev1`	``	38	31270	38	10.0	`ok`

Regenerate

bash

PYTHONPATH=. ./.venv/bin/python scripts/build_pretrain_19d_lance.py --overwrite