griffinlabs/Galaxea-Open-World-Dataset-LeRobot-v3.0Galaxea Open World Dataset taken from OpenGalaxea/Galaxea Open World Dataset, converted to LeRobot Datasets v3.0 format using lerobot.datasets.v30.convert dataset v21 to v30 . Missing subsets The subset Boil The Water 20250714 006 is missing due to the original files having some episodes at 62 fps, which causes the conversion script to crash with an error. The subset Put The Items Into The Storage Box 20250929 002 007 is missing due to it having 7 DoF arms rather than 6 DoF. Approximate no torso movement subsets The /no torso subsets.txt file contains a list of 110 subsets that mostly exclude torso movement. There are still some torso movements included nonetheless. The subsets are selected by the criterion \\(\lVert \text{subset level torso velocity mean} \rVert 1 + \lVert \text{subset level torso velocity standard deviation} \rVert 1 < 0.03\\). The 0.03 threshold was chosen by trial and error with manual inspection / eyeballing of subsets near those values. Dirty episodes Among the no torso movement subsets, some subsets contain episodes where we encountered errors loading the corresponding video. To document this so that those episodes may be skipped during training, we added a…

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