end-effector
icl-dataset-end-effector-space
icl-dataset-fixed-obs
Derived from adityx23/icl-dataset
(lerobot v2.1 format). Every existing column, task, episode flag
(success/valid/keep), and episode_uid is carried through unchanged.
What's added
Two new features, observation.left_ee / observation.right_ee (float32,
shape [7], names qw, qx, qy, qz, x, y, z): the Cartesian end-effector
pose of each arm, forward-kinematics'd from that frame's recorded
observation.state (real joint encoders) through the same… See the full description on the dataset page: https://huggingface.co/datasets/Hannibal52Barca/icl-dataset-end-effector-space.demo-end-effector-space
demo_action_space
Derived from adityx23/icl-demo-dataset
(lerobot v2.1 format, 285 episodes / 254,171 frames / 27 tasks). Every
existing column, task, episode flag (success/valid/keep), and
episode_uid is carried through unchanged.
Sibling dataset: demo_joint_space
adds the same episodes' joint-space IK targets instead of Cartesian poses.
Same source, same episode indices, same pipeline.
What's added
Two new features, observation.left_ee / observation.right_ee… See the full description on the dataset page: https://huggingface.co/datasets/Hannibal52Barca/demo-end-effector-space.rollout_vla0_500eps_endeffectorThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 120,
"total_frames": 169033,
"total_tasks": 12,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:120"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/mattpidden/rollout_vla0_500eps_endeffector.500eps-endeffector-trace-datasetOXE_EndEffector_Lerobot
OXE End-Effector Lerobot Dataset
本仓库收录了一组经过标准化处理的机器人操作数据集，原始数据来自 OXE数据集，通过提取机器人无关的末端位姿信息进行数据清洗，并转换为 LeRobot 格式，方便训练与评估。
数据集列表
本仓库目前包含以下子数据集：
austin_sailor_dataset
berkeley_autolab_ur5
berkeley_fanuc_manipulation
fractal20220817
furniture_bench_dataset
nyu_franka_play_dataset
数据集格式
Observation
机器人每一步的观测由状态向量与多路图像组成。
状态
字段
形状
类型
含义
observation.state
(7,)
float32
末端执行器位置与姿态（欧拉角）、夹爪闭合度
结构为：
[ee_x, ee_y, ee_z, ee_roll… See the full description on the dataset page: https://huggingface.co/datasets/Ray0v0/OXE_EndEffector_Lerobot.rollout_molmoact2_500eps_endeffector_eval_20260902_120317This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6… See the full description on the dataset page: https://huggingface.co/datasets/mattpidden/rollout_molmoact2_500eps_endeffector_eval_20260902_120317.