saaduddinM/rbo_oxe_base_kuka_lerobot

KUKA LeRobot — 10% Subsample (Reindexed)

This release is a uniform 10% subsample of the original original IPEC-COMMUNITY/kuka_lerobot. Episodes were sampled at random and the dataset was rebuilt to stay internally consistent (indices, splits, stats, paths).

• Robot: KUKA IIWA
• Modality: RGB video + states + actions
• FPS / Resolution: 10 FPS, 512×640, AV1
• License: apache-2.0 (inherits from source)

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What’s different in this subset

• Random 10% of episodes kept (uniform over episodes).
• Reindexed kept episodes to [0..N-1] and wrote the new episode_index into each Parquet.
• Preserved single camera key: observation.images.image.
• Rebuilt meta/:
  • info.json (totals, splits, chunk counts),
  • episodes.jsonl (new indices/paths/lengths),
  • stats.json (numeric columns recomputed from the kept data).
• Splits updated to cover the new contiguous range.

Note: Source metadata doesn’t provide task text here, so tasks.jsonl is omitted and total_tasks=0.

---

Quick stats (this release)

• Episodes: 20,988
• Frames: 245,403
• Tasks (unique): 0
• Videos: 20,988 (one per episode)
• Chunks: 21 (with chunks_size=1000)
• FPS: 10

---

Dataset Structure

meta/info.json:

{
  "codebase_version": "v2.0",
  "robot_type": "kuka_iiwa",
  "total_episodes": 20988,
  "total_frames": 245403,
  "total_tasks": 0,
  "total_videos": 20988,
  "total_chunks": 21,
  "chunks_size": 1000,
  "fps": 10,
  "splits": {
    "train": "0:20988"
  },
  "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
  "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
  "features": {
    "observation.images.image": {
      "dtype": "video",
      "shape": [
        512,
        640,
        3
      ],
      "names": [
        "height",
        "width",
        "rgb"
      ],
      "info": {
        "video.fps": 10.0,
        "video.height": 512,
        "video.width": 640,
        "video.channels": 3,
        "video.codec": "av1",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "has_audio": false
      }
    },
    "observation.state": {
      "dtype": "float32",
      "shape": [
        8
      ],
      "names": {
        "motors": [
          "x",
          "y",
          "z",
          "rx",
          "ry",
          "rz",
          "rw",
          "gripper"
        ]
      }
    },
    "action": {
      "dtype": "float32",
      "shape": [
        7
      ],
      "names": {
        "motors": [
          "x",
          "y",
          "z",
          "roll",
          "pitch",
          "yaw",
          "gripper"
        ]
      }
    },
    "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
    },
    "task_index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null
    }
  }
}