ASethi04/pi05-BimanualYAM-long-gripper182-ee20
Robotics • 4B • Updated • 16
Search is not available for this dataset
observation.state list | observation.gripper_width.umi1 float32 56.1 125 | observation.gripper_width.umi2 float32 68.4 191 | timestamp float32 0 52.7 | frame_index int64 0 1.58k | episode_index int64 0 181 | index int64 0 180k | task_index int64 0 0 |
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End of preview. Expand in Data Studio
Combined filtered dual-LiDAR UMI demonstrations
Observation-only LeRobot v3 derivative of brandonyang/dual-lidar-umi, brandonyang/dual-lidar-umi-relative. It contains 182 demonstrations (179951 frames) accepted by the continuous bimanual YAM replayability pipeline.
The 12-D observation.state contains the smoothed, trajectory-optimized YAM-achievable path in the zero-origin UMI Cartesian convention. Raw UMI gripper widths remain as separate observations. The two original UMI videos, timestamps, frame cadence, and task are preserved; action is intentionally absent.
IK and FK use the current BiYAM-pinned I2RT YAM model with the custom 220 mm linear gripper and UMI-compatible grasp frame.
Both UMI trajectories are expressed relative to their own first pose, so both begin at zero. See meta/filtering.json for pinned source revisions, gates, provenance, and the output-to-source episode map. Collision checks are sampled-capsule proxies; validate the exact scene before hardware playback.
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