Dataset · Robotics
2026-10-14_twist_02-lerobot-with-rinse
by Yongliang Lyu lyl472324464/2026-10-14_twist_02-lerobot-with-rinse
This dataset was created using LeRobot.
Rows46,950
Configurations1
Size4.1 GB
Licenseapache-2.0
AccessPublicly accessible
Monthly Downloads—
Dataset Card
By Yongliang Lyu, published under apache-2.0, revision 259c27a4ba86.
This dataset was created using LeRobot.
Dataset Description
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "aloha",
"total_episodes": 49,
"total_frames": 46950,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 200,
"video_files_size_in_mb": 200,
"fps": 50,
"splits": {
"train": "0:49"
},
"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",
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
14
],
"names": [
[
"left_waist",
"left_shoulder",
"left_elbow",
"left_forearm_roll",
"left_wrist_angle",
"left_wrist_rotate",
"left_gripper",
"right_waist",
"right_shoulder",
"right_elbow",
"right_forearm_roll",
"right_wrist_angle",
"right_wrist_rotate",
"right_gripper"
]
]
},
"action": {
"dtype": "float32",
"shape": [
14
],
"names": [
[
"left_waist",
"left_shoulder",
"left_elbow",
"left_forearm_roll",
"left_wrist_angle",
"left_wrist_rotate",
"left_gripper",
"right_waist",
"right_shoulder",
"right_elbow",
"right_forearm_roll",
"right_wrist_angle",
"right_wrist_rotate",
"right_gripper"
]
]
},
"observation.velocity": {
"dtype": "float32",
"shape": [
14
],
"names": [
[
"left_waist",
"left_shoulder",
"left_elbow",
"left_forearm_roll",
"left_wrist_angle",
"left_wrist_rotate",
"left_gripper",
"right_waist",
"right_shoulder",
"right_elbow",
"right_forearm_roll",
"right_wrist_angle",
"right_wrist_rotate",
"right_gripper"
]
]
},
"observation.effort": {
"dtype": "float32",
"shape": [
14
],
"names": [
[
"left_waist",
"left_shoulder",
"left_elbow",
"left_forearm_roll",
"left_wrist_angle",
"left_wrist_rotate",
"left_gripper",
"right_waist",
"right_shoulder",
"right_elbow",
"right_forearm_roll",
"right_wrist_angle",
"right_wrist_rotate",
"right_gripper"
]
]
},
"observation.images.cam_high": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 50,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.cam_low": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 50,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.cam_left_wrist": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 50,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.cam_right_wrist": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 50,
"video.channels": 3,
"has_audio": false
}
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"subtask": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"is_for_training": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
},
"episode_metadata_features": {
"operator": {
"dtype": "string",
"nullable": false
},
"operator_id": {
"dtype": "string",
"nullable": true
},
"rating": {
"dtype": "int64",
"nullable": true
},
"source_project_id": {
"dtype": "string",
"nullable": false
},
"source_episode_id": {
"dtype": "string",
"nullable": false
},
"source_episode_index": {
"dtype": "int64",
"nullable": false
},
"source_episode_name": {
"dtype": "string",
"nullable": false
}
},
"camera_low_position": "rear"
}
Citation
BibTeX:
[More Information Needed]
Structure
default 46,950 rows
| Split | Rows | Size |
|---|---|---|
| train | 46,950 | 8.2 MB |
observation.stateListactionListobservation.velocityListobservation.effortListtask_indexint64subtaskstringis_for_trainingbooltimestampfloat32frame_indexint64episode_indexint64indexint64
Details
- Repository
- lyl472324464/2026-10-14_twist_02-lerobot-with-rinse
- Publisher
- Yongliang Lyu
- Task category
- Robotics
- Tags
- LeRobot
- Size category
- Not stated by the source
- Languages
- Not stated by the source
- Revision
- 259c27a4ba8627f79fb0799e8c46618cc28d97ba
- Last updated
- 2026-10-16
Files
29 files, 4.1 GB in total.
Data5 files · 9.4 MB
Documentation1 file · 8.3 KB
Other22 files · 4.1 GB
Repository1 file · 2.5 KB
Every file
| File | Type | Size | SHA-256 |
|---|---|---|---|
| data/chunk-000/file-000.parquet | Data | 9.0 MB | 5adc05c1327a |
| meta/episodes/chunk-000/file-000.parquet | Data | 334.9 KB | 64d93794ecca |
| meta/info.json | Data | 5.9 KB | — |
| meta/stats.json | Data | 33.3 KB | — |
| meta/tasks.parquet | Data | 2.3 KB | 2bc9ccf7e0e8 |
| README.md | Documentation | 8.3 KB | — |
| videos/observation.images.cam_high/chunk-000/file-000.mp4 | Other | 193.2 MB | ddf2257ee5c7 |
| videos/observation.images.cam_high/chunk-000/file-001.mp4 | Other | 204.3 MB | b808425be779 |
| videos/observation.images.cam_high/chunk-000/file-002.mp4 | Other | 197.1 MB | 0181370bc2a5 |
| videos/observation.images.cam_high/chunk-000/file-003.mp4 | Other | 202.3 MB | c41169d627db |
| videos/observation.images.cam_high/chunk-000/file-004.mp4 | Other | 206.0 MB | e042fe871443 |
| videos/observation.images.cam_high/chunk-000/file-005.mp4 | Other | 202.2 MB | 89d905e41387 |
| videos/observation.images.cam_high/chunk-000/file-006.mp4 | Other | 96.1 MB | 7fbffac4ac78 |
| videos/observation.images.cam_left_wrist/chunk-000/file-000.mp4 | Other | 191.7 MB | 1e1c2e501403 |
| videos/observation.images.cam_left_wrist/chunk-000/file-001.mp4 | Other | 205.3 MB | 3fcca104a3ab |
| videos/observation.images.cam_left_wrist/chunk-000/file-002.mp4 | Other | 206.1 MB | e13895cc99b5 |
| videos/observation.images.cam_left_wrist/chunk-000/file-003.mp4 | Other | 195.0 MB | f7c70430eca2 |
| videos/observation.images.cam_left_wrist/chunk-000/file-004.mp4 | Other | 121.6 MB | ec6ab57861e1 |
| videos/observation.images.cam_low/chunk-000/file-000.mp4 | Other | 202.0 MB | 40bb4e800b23 |
| videos/observation.images.cam_low/chunk-000/file-001.mp4 | Other | 195.0 MB | 3a08d892cd2c |
| videos/observation.images.cam_low/chunk-000/file-002.mp4 | Other | 201.8 MB | 367efb66794e |
| videos/observation.images.cam_low/chunk-000/file-003.mp4 | Other | 190.2 MB | b60488edb3b0 |
| videos/observation.images.cam_low/chunk-000/file-004.mp4 | Other | 194.0 MB | da2108200d95 |
| videos/observation.images.cam_low/chunk-000/file-005.mp4 | Other | 133.9 MB | 7b4b630c2bbb |
| videos/observation.images.cam_right_wrist/chunk-000/file-000.mp4 | Other | 201.2 MB | 5e53693fbae5 |
| videos/observation.images.cam_right_wrist/chunk-000/file-001.mp4 | Other | 207.0 MB | 1cd46d7b8bab |
| videos/observation.images.cam_right_wrist/chunk-000/file-002.mp4 | Other | 200.0 MB | 021756cbbc24 |
| videos/observation.images.cam_right_wrist/chunk-000/file-003.mp4 | Other | 174.4 MB | 7b5608f11de2 |
| .gitattributes | Repository | 2.5 KB | — |
License and Download
- License
- apache-2.0
- Access
- No access gate
Download from Yongliang Lyu
Released by Yongliang Lyu through its official repository on Hugging Face. Read the license.