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action_delta_abs_mean dict | action_ranges dict | coverage_by_active_joint_count dict | coverage_by_stage dict | discarded_short_episodes int64 | episodes_with_nan int64 | near_joint_limit_fraction float64 | num_episodes int64 | rejected_initial_poses int64 | retained_steps dict | state_ranges dict | stuck_episode_fraction float64 | total_frames int64 | truncated_episode_fraction float64 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
{
"joint_0": 0.002442586701363325,
"joint_1": 0.0011787454131990671,
"joint_2": 0.0007981357630342245,
"joint_3": 0.0010654120706021786,
"joint_4": 0.001408482319675386,
"joint_5": 0.0023195811081677675,
"joint_6": 0.00001655028245295398
} | {
"joint_0": {
"max": 3.1354711055755615,
"min": -3.139349937438965
},
"joint_1": {
"max": 3.1379435062408447,
"min": 0.0038626091554760933
},
"joint_2": {
"max": 3.138418197631836,
"min": 0.006693489383906126
},
"joint_3": {
"max": 1.6975175142288208,
"min": -1.68819558620... | {
"1": 256,
"2": 191,
"3": 193,
"4": 115,
"5": 98,
"6": 96,
"7": 75
} | {
"k1": 256,
"k23": 384,
"k47": 384
} | 340 | 0 | 0.000011 | 1,024 | 67 | {
"max": 4096,
"mean": 3463.884765625,
"min": 1027
} | {
"qpos": {
"joint_0": {
"max": 3.1356043815612793,
"min": -3.139787435531616
},
"joint_1": {
"max": 3.1526918411254883,
"min": -0.013530549593269825
},
"joint_2": {
"max": 3.149794101715088,
"min": -0.0047327568754553795
},
"joint_3": {
"max": 1.7... | 0 | 3,547,018 | 0.258789 |
ARX5 MuJoCo Trajectories
Offline trajectory dataset for training world models on the ARX5 7-DOF robot arm in MuJoCo.
Contents
| File | Description |
|---|---|
train.pt |
PyTorch tensor file containing 1024 episodes of robot arm trajectories (~3.5M total frames) |
train_verification.json |
Dataset statistics: joint ranges, action deltas, coverage by stage and active joint count |
Dataset Stats
- Episodes: 1,024
- Total frames: 3,547,018
- Steps per episode: min 1,027 / mean 3,464 / max 4,096
- State space: 14-dim (7 joint positions + 7 joint velocities)
- Action space: 7-dim (joint position targets)
- Discarded short episodes: 340
- Episodes with NaN: 0
- Stuck episodes: 0%
- Near joint-limit fraction: ~0.001%
Usage
import torch
data = torch.load("train.pt", weights_only=False)
Source
Generated from randomised MuJoCo rollouts of the ARX5 arm with multi-stage coverage (single joint, 2-3 joints, 4-7 joints active).
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