DaivdYuan/umi-dynamic-tossing-lerobot

Dynamic Tossing

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: umi-dynamic-tossing
• —Project: UMI (Core)
• —Task: Dynamic Tossing
• —Upstream download/source URL: https://real.stanford.edu/umi/data/dynamictossing/dynamictossing.zarr.zip
• —Upstream project page: https://umi-data.github.io
• —Contact: chuerpan@stanford.edu
• —Original paper: Chi et al. 2024
• —Notes: 284 demos; 1 env; image+proprio

Dataset Format

• —Storage format: LeRobot v3 parquet-based dataset
• —Total episodes: 284
• —Total frames: 368428
• —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": 284,
  "total_frames": 368428,
  "fps": 30,
  "splits": {"train": "0:284"},
  "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': '0:284'}

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