Realset Sample — Ego Hand Manipulation, 5-hour LeRobot sample

Episodes	390
Frames	541,192 at 30 fps (5.0 h)
Tasks	231 distinct task strings
Video	1440×1920 egocentric RGB, H.264, one mp4 per episode
Episode length	150 – 21,045 frames, median 874 (~29 s)
Size	22.3 GiB · 793 objects
Format	LeRobotDataset v2.1: data/*.parquet · videos/ · meta/ · calibration/ · visualization/

Tasks

231 task strings across the 390 episodes. Verb families: wipe (99), peel (35), thread (26), assemble (24), apply (12), fold (7), attach (4), pack (4).

Wipe the black shoe with a white cloth32 episodes
Wipe the black leather shoe with a white cloth30 episodes
Wipe the white bowl with a cloth22 episodes
Wipe the white cup with a cloth9 episodes
Wipe the sneaker with a cloth8 episodes
Wipe a white cup with a cloth7 episodes
Wipe the sneaker surface with a cloth6 episodes
Wipe the white plastic spoon with a cloth5 episodes

Show all 231 task strings

Fold, tape, pack items into, seal, and label a cardboard box
Wipe the white bowl with a cloth
Wipe white plastic cups with a cloth and stack them in a metal bowl
Wipe plastic spoons with a cloth and place them into a blue basin
Wipe the white plastic cup with a cloth
Wipe plastic cups and spoons with a cloth
Wipe a white spoon with a cloth
Wipe the white spoon with a cloth and place it into the pink bowl
Wipe plastic spoons with a tissue
Wipe small white bowls and spoons with a cloth and place them into a blue basin
Wipe white ceramic spoons with a cloth and place them into the red basin
Wipe a white cup with a cloth and place it into a pink basin
Wipe a white cup with a cloth and place it into the pink basin
Wipe a white cup with a cloth
Wipe white plastic cups and spoons with a cloth and place them into a blue basin
Wipe the white bowl with a tissue
Wipe white bowls with a cloth and place them into a green basin
Wipe the white cup with a tissue
Wipe a white cup with a cloth and place it into the beige basin
Wipe the white spoon with a tissue and place it into the beige basin
Wipe the white bowl with a cloth and place it into the beige basin
Wipe a white spoon with a cloth and place it into a blue bowl
Wipe plastic spoons with a tissue and place them into a blue basin
Wipe white cups with a cloth and place them into a basin
Wipe the spoon with a cloth
Wipe the white cup with a cloth and place it into the blue basin
Wipe a white plastic spoon with a cloth and place it into the blue basin
Wipe the white cup with a cloth
Wipe the white paper cup with a tissue
Wipe the white plastic spoon with a cloth
Wipe white plastic spoons with a cloth and place them into a blue basin
Wipe a white plastic cup with a cloth and place it into the blue basin
Wipe a white bowl with a cloth and place it into the blue basin
Wipe white plastic cups with a cloth
Wipe a white bowl with a cloth
Wipe a white spoon with a cloth and place it into the blue basin
Wipe and dry a small white bowl with a cloth
Wipe the white bowl with a cloth and place it into the green basin
Wipe white bowls with a cloth and place them into a clear container
Wipe a white bowl with a cloth and place it into a beige basin
Wipe the white ceramic bowl with a cloth
Wipe and dry tableware items using a cloth
Wipe paper cups with a tissue and place them into a clear container
Wipe white cups with a cloth and place them into the green basin
Wipe a white plastic spoon with a cloth
Wipe white plastic bowls and cups with a cloth and place them into the blue basin
Wipe the white cup with a cloth and place it into the green basin
Wipe a white spoon with a cloth and place it into the pink basin
Wipe white ceramic cups with a cloth and place them into a basin
Wipe a white cup with a cloth and place it into the blue basin
Wipe plastic spoons with a cloth
Wipe the small white bowl with a cloth
Wipe white tableware with a cloth and place into a basin
Wipe the small white cup with a cloth and place it into the basin
Wipe plastic spoons with a cloth and place them into a bowl
Wipe white cups with a cloth
Wipe white cups and spoons with a cloth and place them into a lower container
Wipe a white cup with a tissue and place it into the metal bowl
Wipe white bowls with a cloth and place them into the blue basin
Wipe the white plastic spoon with a tissue
Wipe white bowls with a cloth and place them into the left green basin
Wipe the white plastic cup with a tissue
Wipe white plastic cups and spoons with a cloth
Wipe and dry a white cup with a cloth
Wipe white plastic spoons with a cloth over a pink basin
Wipe a white spoon with a white cloth
Wipe white cups and spoons with a cloth and place them into the blue basin
Sort white spoons from the pink basin into the white bowl
Wipe white ceramic dishes with a cloth and place them into the green basin
Wipe a white plastic spoon with a cloth and place it into the blue bowl
Wipe and dry tableware items with a cloth
Wipe small white cups with a cloth and place them into the blue basin
Wipe the white bowl with a cloth and place it into the blue basin
Wipe white cups and bowls with a cloth and place them into a blue basin
Wipe the white spoon with a cloth
Wipe white bowls with a cloth and stack them in the blue basin
Wipe white spoons with a cloth
Wipe white bowls with a cloth and place them into the green basin
Wipe white cups with a cloth and place them into a metal bowl
Wipe white plastic spoons with a cloth and place them into the blue basin
Wipe a white plastic spoon with a cloth and place it into the beige basin
Wipe a white spoon with a cloth and place it into a bowl
Wipe white plastic cups and spoons with a cloth and place them into the blue basin
Wipe white spoons with a cloth and place them into the blue basin
Wipe the white bowl with a paper towel
Wipe white bowls with a cloth and place them into a metal basin
Fold the red and white checkered shirt and place it on the stack of clothes
Fold the pink patterned baby shirt and place it on the stack of clothes
Fold a pink patterned baby shirt on the wooden table
Fold the pink striped shirt on the table
Fold a pink striped shirt and place it on a stack of clothes
Fold the pink patterned child's shirt on the table
Fold the patterned children's pants and place them on the stack of clothes
Wipe the black leather shoe with a white cloth
Wipe the black shoe with a cloth
Wipe the black shoe with a white cloth
Wipe and polish the black shoe with a white cloth
Wipe the sneaker with a tissue
Wipe the grey sneaker with a white cloth
Wipe the sneaker with a cloth
Wipe the sneaker surface with a tissue
Wipe the surface of the sneaker with a cloth
Wipe the sneaker surface with a cloth
Wipe the black shoe surface with a white cloth
Wipe the surface of the sneaker with a tissue
Wipe the gray sneaker with a tissue
Wipe the sneaker surface with a wet wipe
Wipe the black and yellow shoe with a white cloth
Assemble white device housing by attaching black adhesive pads and pressing components with a green tool
Attach a white label to the plastic-wrapped clothing package on the table
Pack black mechanical parts into green boxes
Insert the packaged black object into the green box and close the lid
Pack black plastic components into green boxes and stack them
Assemble a green box, insert a packaged black mechanical part, close the box, and place it on the stack
Pack a black mechanical component into a green cardboard box
Pack wrapped wrenches into the cardboard box
Connect internal wires and assemble electronic device units
Assemble electronic device units by connecting internal wires and securing the casing
Peel backing from small foam cutout and attach it to large foam letter base
Sort light-colored cutout pieces from the plastic bag pile onto the table
Assemble black plastic component with metal pin using jig and hammer
Sort wooden cutout pieces from the pile onto the table
Insert a metal pin into a black bead
Assemble electronic device by installing fan and thermal pads
Assemble black button components by inserting pins and placing finished units into a container
Assemble electronic device by installing heat sinks and adjusting internal components
Attach the beige strap to the white foam cutout
Assemble black plastic brackets by gluing gray rubber pads onto them
Peel backing off adhesive strip and attach it to the white foam cutout
Apply glue to black plastic clips and attach grey rectangular pads
Peel backing off adhesive strip and align it onto white cutout
Peel backing off beige strip and align it onto white cutout
Attach grey adhesive pads to black plastic brackets
Assemble white foam components by peeling backing and attaching shaped inserts
Apply adhesive pads to the edges of circular black components
Peel backing from adhesive strip and attach it to the white cutout
Peel backing paper off white adhesive foam pieces and align them onto blue foam bases
Peel adhesive pads from backing sheet and apply to gray circular discs
Peel backing from adhesive cutouts and apply them to blue foam pieces
Peel backing from white cutouts and align them onto blue foam pieces
Peel backing off cutout and attach to black base piece
Peel backing from white adhesive cutouts and attach them to dark fabric pieces
Assemble white cutout components by peeling backing and adhering to base pieces
Align and press the white template onto the dark fabric piece
Assemble white foam cutouts by attaching adhesive strips
Peel backing from white cutout and align it with black cutout
Assemble white foam components by peeling backing and adhering pieces
Insert black rubber pads into white device housing and adjust with green tool
Peel protective backing off white cutout and press it onto black cutout
Apply glue to the black plastic part and attach the grey rubber pad
Peel adhesive pads from sheets and apply them to gray circular discs
Peel backing off adhesive strip and attach it to the white cutout
Peel backing from white handle strips and attach them to the cutouts on white foam boards
Apply adhesive strips to grey circular components
Apply glue to the black bracket and attach the grey pad
Peel backing from adhesive strip and attach it to the white foam cutout
Apply glue to black plastic buckle and attach grey rubber pad
Align and press the white cutout piece onto the black base
Assemble white device housings by inserting black components and applying adhesive with a brush
Peel backing off adhesive cutouts and align them onto dark foam pieces
Peel adhesive pads from backing sheet and apply them to grey circular discs
Peel backing from adhesive shoe insole components and assemble them onto blue insoles
Peel backing from adhesive cutouts and align them onto dark base pieces
Assemble white device housings by inserting black foam strips and brushing the interior components
Assemble black strap component with gray pad using glue
Peel backing off adhesive strip and attach it to the white cutout material
Assemble black plastic clip with gray square pad using glue
Apply adhesive pads to circular black components
Assemble the white foam insert into the beige foam base
Peel adhesive strips from backing sheet and apply them to circular gray discs
Apply glue to black plastic bracket and attach grey pad
Peel backing from white cutout and adhere it to black shoe component
Peel backing from white adhesive cutouts and attach them to black shaped pieces
Peel backing from white adhesive cutouts and attach them to dark shaped components
Peel backing off adhesive strip and align white cutout onto base structure
Assemble white foam cutouts by attaching a small piece to a large base
Apply glue to a black plastic part and attach a grey component
Peel backing from adhesive arch support and attach it to the white foam insole
Peel backing from adhesive piece and attach to blue fabric cutout
Peel backing from adhesive strip and attach white cutout to foam shape
Apply adhesive strips to white foam cutouts
Assemble the white cutout piece with the black and grey shoe-shaped components
Assemble white foam cushion components by peeling backing and inserting center piece
Apply adhesive strip to white foam cutout
Apply adhesive strips to circular black components
Assemble shoe insoles by peeling backing paper and attaching white inserts to black bases
Assemble white device housing by inserting black components and adjusting with a green tool
Peel backing off adhesive strips and attach them to the central slot of white cutout shapes
Peel backing off adhesive cutouts and align them onto dark fabric pieces
Thread shoelaces through the eyelets of a white and blue shoe upper using a pointed tool
Thread shoelaces through the eyelets of miniature shoe models
Thread shoelaces through the eyelets of a white and blue shoe upper
Thread a gray cord through the eyelets of a white shoe upper
Thread shoelaces through the eyelets of the shoe upper using a needle tool
Thread shoelaces through the eyelets of a small white shoe using a needle tool
Adjust shoelaces on the sneaker using a tool
Thread shoelaces through the eyelets of a miniature shoe using a tool
Thread shoelaces through the eyelets of a small white shoe using a pointed tool
Thread shoelaces through the eyelets of white shoe uppers using a hand tool
Thread laces through eyelets of miniature shoe using a pointed tool
Insert wire into shoe upper edge using tool
Stitch the blue strap onto the white shoe upper using a needle and thread
Peel backing from adhesive component and attach it to white shoe upper
Thread shoelace through shoe eyelets using a pointed tool
Thread shoelaces through eyelets on shoe uppers and tie knots
Thread cord through shoe eyelets and tie knot
Thread shoelaces through the eyelets of a white shoe upper using a tool
Stitch the white shoe upper using a needle and thread
Thread and secure the shoelace on the miniature shoe using a pointed tool
Thread shoelace through shoe eyelets using a tool
Thread shoelaces through the eyelets of a white and blue shoe using a pointed tool
Thread laces through the eyelets of a small white shoe using a pointed tool
Thread shoelaces through the eyelets of the miniature shoe model using a pointed tool
Thread shoelaces through the eyelets of a white shoe upper using a needle tool
Thread shoelaces through shoe uppers using a tool
Assemble white foam cutout pieces
Peel backing from adhesive insert and attach it to the white foam insole
Thread shoelace through shoe eyelets using a tool and tie the ends
Thread metal wires through the shoe upper using a pointed tool
Inspect and separate layers of white cutout material stack
Peel off the white protective backing from the curved gold metal piece
Attach white insole to shoe upper
Separate and fan out layers of white foam cutouts
Inspect and align stacks of white foam pieces
Assemble white foam layers into a flower shape
Thread small silver beads onto a string
Separate white cutout pieces from the central stack and place them onto the table
Organize scattered die-cut material pieces into neat stacks on the table
Separate and stack cut-out material pieces
Thread shoelaces through the eyelets of a white and blue sneaker using a metal tool
Thread shoelaces through shoe eyelets using a pointed tool

observation.images.ego	video [1440,1920,3] egocentric RGB
observation.state	float64 [122] left 61 + right 61: wrist pos (cam), root rot, 15 joint eulers, MANO betas
left/right_transl_world	float64 [3] wrist translation, world frame, metres
left/right_orient_world	float64 [9] wrist rotation 3×3 row-major
left/right_hand_pose	float64 [135] 15 MANO joint rotations, 3×3 each
left/right_per_frame_validity	float64 [1] tracking validity per frame
state_mask	bool [2] which hands present
intrinsics / extrinsics_w2c / fov	float64 [9] / [16] / [2] per-frame camera model, OpenCV convention

Ego Hand Manipulation, 5-hour LeRobot sample

Preview

At a glance

Tasks

Features

Access

Next step

Tell us what your model needs

Thanks, you're all set.