apaszynska/merged_diffrenet_grips

---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- lerobot
- robotics
- robot-learning
- imitation-learning
- reinforcement-learning
- recap
configs:
- config_name: default
data_files:
- split: train
path: data/**/*.parquet
---

# merged_diffrenet_grips

Dataset for RECAP (RL with Experience and Corrections via Advantage-conditioned Policies) training.

## Dataset Description

- **Robot Type:** bi_dk1_follower
- **Total Episodes:** 302
- **Total Frames:** 209890
- **FPS:** 30

## Features

| Feature | Type | Shape |
|---------|------|-------|
| `action` | float32 | (14,) |
| `observation.state` | float32 | (14,) |
| `observation.images.camera_0` | video | (480, 640, 3) |
| `observation.images.camera_1` | video | (480, 640, 3) |
| `observation.images.camera_2` | video | (480, 640, 3) |
| `timestamp` | float32 | (1,) |
| `frame_index` | int64 | (1,) |
| `episode_index` | int64 | (1,) |
| `index` | int64 | (1,) |
| `task_index` | int64 | (1,) |

## RECAP-Specific Features

- **is_intervention:** 1 if frame was human teleoperation, 0 if policy control
- **episode_success:** 1 if episode was successful, 0 if failure, -1 if unlabeled

## Usage

```python
from lerobot.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset("apaszynska/merged_diffrenet_grips")
```

## License

Apache 2.0