DaivdYuan/hub-tennis-ball-basket-toss-lerobot

Tennis Ball Basket Toss

Visualizers

• —LeRobot Visualizer
• —Neural Motion Visualizer

Overview

This dataset is a conversion from an upstream robotics dataset into LeRobot v3-compatible format. It is intended to provide reproducible access in a unified schema.

Source Dataset

• —Dataset ID: hub-tennis-ball-basket-toss
• —Project: unknown
• —Task: Tennis Ball Basket Toss
• —Upstream download/source URL: https://real.stanford.edu/umi-on-legs/tossing.zarr.zip
• —Upstream project page: https://umi-data.github.io/
• —Contact: zxzmkufufu@gmail.com
• —Original paper: Fast-UMI: A Scalable and Hardware-Independent Universal Manipulation Interface (2024)
• —Notes: 500 demos; 1 envs; obs=Image,Proprio; actions=6 DoF End Effector,Parallel Gripper

Dataset Format

• —Storage format: LeRobot v3 parquet-based dataset
• —Total episodes: 165
• —Total frames: 194179
• —FPS: 30
• —Robot type: generic_robot
• —Observation feature: observation.state with shape [7]
• —Action feature: action with shape [7]
• —Video streams: present

Video Modalities

• —observation.images.camera0_rgb: shape [224, 224, 3]
• —Frame rate: 30 FPS

Conversion Notes

• —Target schema: LeRobot v3
• —Conversion path: ingest -> preprocess -> zarr probe -> convert 1 episode -> upload
• —action fallback may be used when upstream data/action is missing.

Dataset Structure

meta/info.json:

{
  "codebase_version": "v3.0",
  "robot_type": "generic_robot",
  "total_episodes": 165,
  "total_frames": 194179,
  "fps": 30,
  "splits": {"train": "0:165"},
  "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
  "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
  "features": {
    "observation.state": {"dtype": "float32", "shape": [7]},
    "action": {"dtype": "float32", "shape": [7]}
  }
}

Data Splits

• —{'train': '0:165'}

Citation

This dataset was created using LeRobot. Please also cite the original upstream project and paper listed above.

Attribution

• —Original dataset credit remains with upstream creators.
• —Conversion and curation contribution:
• —Convertor: David Yuan, davidy02@stanford.edu, Stanford University
• —NMotion Initiative (opensource community): we make embodied data accessible