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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

SplitRowsSize
train46,9508.2 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
FileTypeSizeSHA-256
data/chunk-000/file-000.parquetData9.0 MB5adc05c1327a
meta/episodes/chunk-000/file-000.parquetData334.9 KB64d93794ecca
meta/info.jsonData5.9 KB—
meta/stats.jsonData33.3 KB—
meta/tasks.parquetData2.3 KB2bc9ccf7e0e8
README.mdDocumentation8.3 KB—
videos/observation.images.cam_high/chunk-000/file-000.mp4Other193.2 MBddf2257ee5c7
videos/observation.images.cam_high/chunk-000/file-001.mp4Other204.3 MBb808425be779
videos/observation.images.cam_high/chunk-000/file-002.mp4Other197.1 MB0181370bc2a5
videos/observation.images.cam_high/chunk-000/file-003.mp4Other202.3 MBc41169d627db
videos/observation.images.cam_high/chunk-000/file-004.mp4Other206.0 MBe042fe871443
videos/observation.images.cam_high/chunk-000/file-005.mp4Other202.2 MB89d905e41387
videos/observation.images.cam_high/chunk-000/file-006.mp4Other96.1 MB7fbffac4ac78
videos/observation.images.cam_left_wrist/chunk-000/file-000.mp4Other191.7 MB1e1c2e501403
videos/observation.images.cam_left_wrist/chunk-000/file-001.mp4Other205.3 MB3fcca104a3ab
videos/observation.images.cam_left_wrist/chunk-000/file-002.mp4Other206.1 MBe13895cc99b5
videos/observation.images.cam_left_wrist/chunk-000/file-003.mp4Other195.0 MBf7c70430eca2
videos/observation.images.cam_left_wrist/chunk-000/file-004.mp4Other121.6 MBec6ab57861e1
videos/observation.images.cam_low/chunk-000/file-000.mp4Other202.0 MB40bb4e800b23
videos/observation.images.cam_low/chunk-000/file-001.mp4Other195.0 MB3a08d892cd2c
videos/observation.images.cam_low/chunk-000/file-002.mp4Other201.8 MB367efb66794e
videos/observation.images.cam_low/chunk-000/file-003.mp4Other190.2 MBb60488edb3b0
videos/observation.images.cam_low/chunk-000/file-004.mp4Other194.0 MBda2108200d95
videos/observation.images.cam_low/chunk-000/file-005.mp4Other133.9 MB7b4b630c2bbb
videos/observation.images.cam_right_wrist/chunk-000/file-000.mp4Other201.2 MB5e53693fbae5
videos/observation.images.cam_right_wrist/chunk-000/file-001.mp4Other207.0 MB1cd46d7b8bab
videos/observation.images.cam_right_wrist/chunk-000/file-002.mp4Other200.0 MB021756cbbc24
videos/observation.images.cam_right_wrist/chunk-000/file-003.mp4Other174.4 MB7b5608f11de2
.gitattributesRepository2.5 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.