rainbowrobotics/simtos_sort_30_31_merged_notorso_qfixed

---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
configs:
- config_name: default
data_files:
- split: train
path: data/chunk-*/file-*.parquet
---

# simtos_sort_30_31_merged_notorso_qfixed

This dataset was created from [rainbowrobotics/simtos_sort_30_31_merged_notorso](https://huggingface.co/datasets/rainbowrobotics/simtos_sort_30_31_merged_notorso) with **quantile stats recomputed** from the full dataset.

- **Robot**: RBY1
- **Format**: LeRobot v3.0
- **Episodes**: 222
- **Frames**: 287,545
- **FPS**: 15

## Features

| Feature | Shape | Description |
|---------|-------|-------------|
| `observation.state` | (16,) | right_arm (7) + left_arm (7) + grippers (2) |
| `action` | (16,) | right_arm (7) + left_arm (7) + grippers (2) |
| `observation.images.front` | (480, 640, 3) | Front camera (AV1) |
| `observation.images.right` | (640, 480, 3) | Right camera (AV1) |
| `observation.images.left` | (640, 480, 3) | Left camera (AV1) |

## Changes from source dataset

- Torso joints (`torso_0` ~ `torso_5`) removed from `observation.state` (22 -> 16 dims)
- `action` unchanged (already 16 dims, no torso)
- **Quantile stats (q01/q10/q50/q90/q99) recomputed exactly** from all 287,545 frames, fixing the per-episode weighted-average approximation error in the original stats
- min/max/mean/std were already correct and remain unchanged