camera-rig
plentiful-carla-camera-rigs
Benchmark: Plentiful Carla Camera Rigs
Camera-based perception systems for autonomous driving are typically developed and evaluated using fixed sensor rigs,
while real-world vehicle fleets exhibit substantial variation in camera placement, orientation, field of view, and camera count.
This mismatch introduces a cross-rig domain gap in which only the geometric observation process changes.
To study this effect under controlled conditions, we introduce Plentiful Carla Camera… See the full description on the dataset page: https://huggingface.co/datasets/timb2001/plentiful-carla-camera-rigs.openarm_mini_dual_camera_blue_sponge_0529_01_right_only_lpf_hybrid_v4This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"right_joint_1.pos",
"right_joint_2.pos",
"right_joint_3.pos",
"right_joint_4.pos",
"right_joint_5.pos",
"right_joint_6.pos",
"right_joint_7.pos"… See the full description on the dataset page: https://huggingface.co/datasets/aHiroakiIshikawa/openarm_mini_dual_camera_blue_sponge_0529_01_right_only_lpf_hybrid_v4.openarm_mini_dual_camera_blue_sponge_0529_01_right_only_lpf05hzThis dataset was created using LeRobot.
openarm_mini_dual_camera_blue_sponge_0529_01_right_only_lpf05hz
Preprocessing
A Butterworth low-pass filter was applied to action and observation.state columns:
Parameter
Value
Filter type
Butterworth (zero-phase, filtfilt)
Order
4
Cutoff frequency
0.5 Hz
Sampling rate
30 Hz
Applied per
Episode (no cross-episode filtering)
stats.json was recomputed from the filtered data.
Video files are… See the full description on the dataset page: https://huggingface.co/datasets/aHiroakiIshikawa/openarm_mini_dual_camera_blue_sponge_0529_01_right_only_lpf05hz.openarm_mini_dual_camera_blue_sponge_0529_01_right_only_lpf1hzThis dataset was created using LeRobot.
openarm_mini_dual_camera_blue_sponge_0529_01_right_only_lpf1hz
Preprocessing
A Butterworth low-pass filter was applied to action and observation.state columns:
Parameter
Value
Filter type
Butterworth (zero-phase, filtfilt)
Order
4
Cutoff frequency
1.0 Hz
Sampling rate
30 Hz
Applied per
Episode (no cross-episode filtering)
stats.json was recomputed from the filtered data.
Video files are… See the full description on the dataset page: https://huggingface.co/datasets/aHiroakiIshikawa/openarm_mini_dual_camera_blue_sponge_0529_01_right_only_lpf1hz.openarm_mini_dual_camera_blue_sponge_0529_01_right_only_lpf_hybrid_v2This dataset was created using LeRobot.
openarm_mini_dual_camera_blue_sponge_0529_01_right_only_lpf_hybrid_v2
Preprocessing
A motor-spec-based hybrid Butterworth low-pass filter was applied to action and observation.state columns.
Cutoff frequencies are chosen per joint based on the motor's mechanical bandwidth:
Index
Joint
Motor
Cutoff
Order
0
J1 Shoulder pan
DM8009
1.0 Hz
4
1
J2 Shoulder lift
DM8009
1.0 Hz
4
2
J3 Shoulder rot
DM4340
0.5… See the full description on the dataset page: https://huggingface.co/datasets/aHiroakiIshikawa/openarm_mini_dual_camera_blue_sponge_0529_01_right_only_lpf_hybrid_v2.openarm_mini_dual_camera_blue_sponge_0529_01_right_only_lpf3hzThis dataset was created using LeRobot.
openarm_mini_dual_camera_blue_sponge_0529_01_right_only_lpf3hz
Preprocessing
A Butterworth low-pass filter was applied to action and observation.state columns:
Parameter
Value
Filter type
Butterworth (zero-phase, filtfilt)
Order
4
Cutoff frequency
3.0 Hz
Sampling rate
30 Hz
Applied per
Episode (no cross-episode filtering)
stats.json was recomputed from the filtered data.
Video files are… See the full description on the dataset page: https://huggingface.co/datasets/aHiroakiIshikawa/openarm_mini_dual_camera_blue_sponge_0529_01_right_only_lpf3hz.