Datasetpublic

TrossenRoboticsCommunity/stationary-organize-tools-converted-v3-relative

This dataset was created using LeRobot. Relative-action variant. Action normalization statistics are stored in relative space (arm joints relative to the current state; grippers kept absolute). Train with relative actions enabled so normalization matches the data: lerobot-train \ --dataset.repo_id=TrossenRoboticsCommunity/stationary-organize-tools-converted-v3-relative \ --policy.type=pi05 \ --policy.use_relative_actions=true \ --policy.relative_exclude_joints="['carriage']"… See the full description on the dataset page: https://huggingface.co/datasets/TrossenRoboticsCommunity/stationary-organize-tools-converted-v3-relative.

sourceHugging Faceapache-2.0updated 4mo agoView on Hugging Face

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Dataset Card

This dataset was created using LeRobot.

Dataset Description

—Task: "Put all the tools on the table into the pen holder"
—Robot: Trossen AI bimanual stationary (bimanual_widowxai), 14-DoF, 30 fps
—Episodes / Frames: 83 / 111,785
—Cameras: cam_high, cam_low, cam_left_wrist, cam_right_wrist (RGB, 480x640)
—Source: converted from the v2.1 dataset trossen_ai_stationary_organize_tools via the LeRobot v2-to-v3 converter
—License: apache-2.0

Relative-action variant. Action normalization statistics are stored in relative space (arm joints relative to the current state; grippers kept absolute). Train with relative actions enabled so normalization matches the data: ``bash lerobot-train \ --dataset.repo_id=TrossenRoboticsCommunity/stationary-organize-tools-converted-v3-relative \ --policy.type=pi05 \ --policy.use_relative_actions=true \ --policy.relative_exclude_joints="['carriage']" ``

Dataset Structure

meta/info.json:

json

{
    "codebase_version": "v3.0",
    "robot_type": "bimanual_widowxai",
    "total_episodes": 83,
    "total_frames": 111785,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:83"
    },
    "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": {
        "action": {
            "dtype": "float32",
            "names": [
                "left_joint_0.pos",
                "left_joint_1.pos",
                "left_joint_2.pos",
                "left_joint_3.pos",
                "left_joint_4.pos",
                "left_joint_5.pos",
                "left_left_carriage_joint.pos",
                "right_joint_0.pos",
                "right_joint_1.pos",
                "right_joint_2.pos",
                "right_joint_3.pos",
                "right_joint_4.pos",
                "right_joint_5.pos",
                "right_left_carriage_joint.pos"
            ],
            "shape": [
                14
            ]
        },
        "episode_index": {
            "dtype": "int64",
            "names": null,
            "shape": [
                1
            ]
        },
        "frame_index": {
            "dtype": "int64",
            "names": null,
            "shape": [
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            ]
        },
        "index": {
            "dtype": "int64",
            "names": null,
            "shape": [
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            ]
        },
        "observation.images.cam_high": {
            "dtype": "video",
            "info": {
                "has_audio": false,
                "video.channels": 3,
                "video.codec": "av1",
                "video.fps": 30,
                "video.height": 480,
                "video.is_depth_map": false,
                "video.pix_fmt": "yuv420p",
                "video.width": 640
            },
            "names": [
                "height",
                "width",
                "channels"
            ],
            "shape": [
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                3
            ]
        },
        "observation.images.cam_left_wrist": {
            "dtype": "video",
            "info": {
                "has_audio": false,
                "video.channels": 3,
                "video.codec": "av1",
                "video.fps": 30,
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                "video.is_depth_map": false,
                "video.pix_fmt": "yuv420p",
                "video.width": 640
            },
            "names": [
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            ],
            "shape": [
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        },
        "observation.images.cam_low": {
            "dtype": "video",
            "info": {
                "has_audio": false,
                "video.channels": 3,
                "video.codec": "av1",
                "video.fps": 30,
                "video.height": 480,
                "video.is_depth_map": false,
                "video.pix_fmt": "yuv420p",
                "video.width": 640
            },
            "names": [
                "height",
                "width",
                "channels"
            ],
            "shape": [
                480,
                640,
                3
            ]
        },
        "observation.images.cam_right_wrist": {
            "dtype": "video",
            "info": {
                "has_audio": false,
                "video.channels": 3,
                "video.codec": "av1",
                "video.fps": 30,
                "video.height": 480,
                "video.is_depth_map": false,
                "video.pix_fmt": "yuv420p",
                "video.width": 640
            },
            "names": [
                "height",
                "width",
                "channels"
            ],
            "shape": [
                480,
                640,
                3
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "left_joint_0.pos",
                "left_joint_1.pos",
                "left_joint_2.pos",
                "left_joint_3.pos",
                "left_joint_4.pos",
                "left_joint_5.pos",
                "left_left_carriage_joint.pos",
                "right_joint_0.pos",
                "right_joint_1.pos",
                "right_joint_2.pos",
                "right_joint_3.pos",
                "right_joint_4.pos",
                "right_joint_5.pos",
                "right_left_carriage_joint.pos"
            ],
            "shape": [
                14
            ]
        },
        "task_index": {
            "dtype": "int64",
            "names": null,
            "shape": [
                1
            ]
        },
        "timestamp": {
            "dtype": "float32",
            "names": null,
            "shape": [
                1
            ]
        }
    }
}

Citation

BibTeX:

bibtex

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