RealDatasets

This repository contains the original robot demonstrations and three converted LeRobot v3 datasets.

Layout

raw/
├── 抓娃娃/
├── 对折毛巾/
└── 放置绳子/

lerobot/
├── pack_sloth/
├── fold_cloth/
└── insert_rope/

Each lerobot/<task>/ directory is an independent LeRobot v3 dataset root. Because the datasets are stored below repository subdirectories, download the selected subdirectory and pass its local path as root.

from pathlib import Path

from huggingface_hub import snapshot_download
from lerobot.datasets import LeRobotDataset

repo_root = Path(
    snapshot_download(
        repo_id="Zili2002/RealDatasets",
        repo_type="dataset",
        allow_patterns=["lerobot/pack_sloth/**"],
    )
)

dataset = LeRobotDataset(
    repo_id="Zili2002/RealDatasets",
    root=repo_root / "lerobot" / "pack_sloth",
    video_backend="pyav",
)

Converted data

• Nominal timeline: 30 Hz
• Video resolution: 848x480
• camera_2: observation.images.wrist
• camera_4: observation.images.front
• Original 1920x1080 frames are center-cropped to 1908x1080 and resized without changing the aspect ratio.

The source recordings contain timing gaps. Converted datasets preserve every recorded image and expand each episode onto a strict 30 Hz timeline:

• real source frame: original image and *_valid=true
• missing slot: black image and *_valid=false
• missing slot state/action: NaN with their validity masks set to false
• source.frame_index=-1 identifies an inserted slot

Consumers must filter invalid state/action rows before normalization, model input, and loss computation. Multiplying NaN values by a zero mask is not sufficient.

Each converted dataset also contains:

raw_video/record_NNN/
├── camera_2_*.mp4
├── camera_4_*.mp4
├── frame_timestamps.json
└── timeline_30hz.json

timeline_30hz.json records the source-to-target frame mapping and the complete image-validity mask. LeRobot normalization statistics are computed from valid source rows only.

Features

• observation.images.wrist: video [480, 848, 3]
• observation.images.front: video [480, 848, 3]
• observation.state: float32 [8]
• action: float32 [7]
• source.timestamp: nominal 30 Hz Unix timestamp
• source.timestamp_relative: nominal 30 Hz episode-relative timestamp
• source.original_timestamp: real source timestamp, NaN for inserted rows
• source.original_timestamp_relative: real relative timestamp, NaN for inserted rows
• source.frame_index: source frame index, -1 for inserted rows
• observation.images.wrist_valid
• observation.images.front_valid
• observation.state_valid
• action_valid