Datasetpublic

NoahWeiss/farm_uf850_bottle

FARM UF850 — Bottle Pick-and-Place with a UFactory UF850 LeRobot-format dataset of teleoperated single-arm manipulation collected on a UFactory UF850 (6-DoF arm with parallel gripper) using a Meta Quest as the teleop controller. 200 episodes across 2 natural-language tasks: moving a bottle between a desk and a box. Collected with the FARM edge agent (repository) as a CS153 final project. Intended for a full fine-tune of π0.5. Quick stats Episodes 200… See the full description on the dataset page: https://huggingface.co/datasets/NoahWeiss/farm_uf850_bottle.

sourceHugging Faceapache-2.0updated 4mo agoView on Hugging Face

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Dataset Card

FARM UF850 — Bottle Pick-and-Place with a UFactory UF850

LeRobot-format dataset of teleoperated single-arm manipulation collected on a UFactory UF850 (6-DoF arm with parallel gripper) using a Meta Quest as the teleop controller. 200 episodes across 2 natural-language tasks: moving a bottle between a desk and a box.

Collected with the FARM edge agent (repository) as a CS153 final project. Intended for a full fine-tune of π0.5.

Quick stats


Episodes	200
Total frames	59,183
Duration	32.9 min
Episode length (median)	9.3 s (279 frames); range 31–851
FPS	30
Robot	UFactory UF850, 6-DoF + parallel gripper (7-D state/action)
Cameras	2 × Intel RealSense D435 (base + wrist), 640×480, h264
Unique tasks	2
Format	LeRobot v2.0

Tasks

count	task
101	`Picking up the bottle and placing it on the box`
99	`Picking up the bottle off of the box and putting it on the desk`

State / action space

7-dim float32 in both observation.state and action:

idx	name	unit	observed range
0	joint1	rad	[-1.017, 1.237]
1	joint2	rad	[-1.508, 0.361]
2	joint3	rad	[-2.417, -0.060]
3	joint4	rad	[-3.083, 2.689]
4	joint5	rad	[ 0.051, 2.019]
5	joint6	rad	[-2.275, 1.767]
6	gripper	0 (open) → 1 (closed)	[0.000, 1.000]

action[t] is the next-step absolute state (observation.state[t+1]); the final frame repeats its own state. Downstream training (openpi) converts the 6 joint dims to deltas and keeps the gripper absolute.

Cameras

—observation.images.base — fixed base view, 640×480 RGB, h264
—observation.images.wrist — wrist-mounted view, 640×480 RGB, h264

Layout

meta/{info.json, episodes.jsonl, tasks.jsonl, stats.json}
data/chunk-000/episode_NNNNNN.parquet
videos/chunk-000/observation.images.{base,wrist}/episode_NNNNNN.mp4