Datasetpublic

Shiki42/robotwin_put_obj_cabinet_fixedArmTask_hybrid_100

ABORTED research artifact — retained for reproducibility, not deleted. This artifact is retained as historical evidence only. Its cached segment-start main-camera observations are not eligible for dynamic-main-view claims. See ABORTED.yaml for the machine-readable archival record. Archival registry mapping: experiment_id: E004 robotwin_put_obj_cabinet_fixedArmTask_hybrid_100 This dataset was created using LeRobot. Dataset Description This is a… See the full description on the dataset page: https://huggingface.co/datasets/Shiki42/robotwin_put_obj_cabinet_fixedArmTask_hybrid_100.

sourceHugging Faceapache-2.0updated 2mo agoView on Hugging Face

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Dataset Card

ABORTED research artifact — retained for reproducibility, not deleted.

This artifact is retained as historical evidence only. Its cached segment-start main-camera observations are not eligible for dynamic-main-view claims. See `ABORTED.yaml` for the machine-readable archival record.

Archival registry mapping:

yaml

experiment_id: E004

robotwinputobjcabinetfixedArmTaskhybrid100

This dataset was created using LeRobot.

Dataset Description

This is a 100-episode RoboTwin 2.0 put_object_cabinet hybrid dataset with fixed arm roles.

—Composition: 50 official serialized episodes plus 50 paired native-path parallel episodes, totaling 23,807 aligned frames.
—Fixed arm assignment: in all 50 serialized source episodes and all 50 parallel episodes, the left arm grasps, lifts, and places the object, while the right arm grasps and opens the cabinet drawer.
—Meaning of `fixedArmTask`: the task roles never swap between arms. It does not mean that one arm stays static; the parallel half can move both arms concurrently while preserving the fixed roles.
—Pairing: the parallel half is derived from the same 50 source scenes/seeds and was re-executed in RoboTwin at the native planner-trajectory layer.
—Validation: both halves passed their dataset validation gates; the native-path parallel half passed 50/50 task-success and collision checks.

—License: apache-2.0

Dataset Structure

meta/info.json:

json

{
    "codebase_version": "v2.1",
    "robot_type": "aloha",
    "total_episodes": 100,
    "total_frames": 23807,
    "total_tasks": 100,
    "total_videos": 300,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 50,
    "splits": {
        "train": "0:100"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                [
                    "left_waist",
                    "left_shoulder",
                    "left_elbow",
                    "left_forearm_roll",
                    "left_wrist_angle",
                    "left_wrist_rotate",
                    "left_gripper",
                    "right_waist",
                    "right_shoulder",
                    "right_elbow",
                    "right_forearm_roll",
                    "right_wrist_angle",
                    "right_wrist_rotate",
                    "right_gripper"
                ]
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                [
                    "left_waist",
                    "left_shoulder",
                    "left_elbow",
                    "left_forearm_roll",
                    "left_wrist_angle",
                    "left_wrist_rotate",
                    "left_gripper",
                    "right_waist",
                    "right_shoulder",
                    "right_elbow",
                    "right_forearm_roll",
                    "right_wrist_angle",
                    "right_wrist_rotate",
                    "right_gripper"
                ]
            ]
        },
        "observation.phase_one_hot": {
            "dtype": "float32",
            "shape": [
                2
            ],
            "names": [
                "sync",
                "async"
            ]
        },
        "observation.arm_active_mask": {
            "dtype": "float32",
            "shape": [
                2
            ],
            "names": [
                "left",
                "right"
            ]
        },
        "observation.images.cam_high": {
            "dtype": "video",
            "shape": [
                3,
                480,
                640
            ],
            "names": [
                "channels",
                "height",
                "width"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 50,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.cam_left_wrist": {
            "dtype": "video",
            "shape": [
                3,
                480,
                640
            ],
            "names": [
                "channels",
                "height",
                "width"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 50,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.cam_right_wrist": {
            "dtype": "video",
            "shape": [
                3,
                480,
                640
            ],
            "names": [
                "channels",
                "height",
                "width"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 50,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

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