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apaszynska/merged-recap-cup-training-h264

Merged RECAP Cup Training Dataset This dataset contains merged data for training a RECAP (RL with Experience and Corrections via Advantage-conditioned Policies) value function for bimanual cup positioning. Features Feature Type Shape observation.images.left video (480, 640, 3) observation.images.center video (480, 640, 3) observation.images.right video (480, 640, 3) observation.state float32 (12,) action float32 (12,) is_intervention int64 (1… See the full description on the dataset page: https://huggingface.co/datasets/apaszynska/merged-recap-cup-training-h264.

sourceHugging Faceapache-2.0updated 8mo agoView on Hugging Face
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Merged RECAP Cup Training Dataset

This dataset contains merged data for training a RECAP (RL with Experience and Corrections via Advantage-conditioned Policies) value function for bimanual cup positioning.

Dataset Description

  • —Robot Type: bisofollower (Bimanual SO-101 arms)
  • —Total Episodes: 321
  • —Total Frames: 97,457
  • —FPS: 15
  • —Task: Position cup for coffee

Features

FeatureTypeShape
observation.images.leftvideo(480, 640, 3)
observation.images.centervideo(480, 640, 3)
observation.images.rightvideo(480, 640, 3)
observation.statefloat32(12,)
actionfloat32(12,)
is_interventionint64(1,)
episode_successint64(1,)

RECAP-Specific Features

  • —is_intervention: 1 if frame was human teleoperation, 0 if policy control
  • —episode_success: 1 if episode was successful, 0 if failure

Source Datasets

This dataset was merged from:

  1. 1.bimanual-so101-position-cup-for-coffee-3-recap - Human teleop demonstrations (301 episodes)
  2. 2.recap_pi05_cup_new_7 - RECAP collected policy rollouts with interventions (20 episodes)

Usage

python
from lerobot.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset("apaszynska/merged-recap-cup-training")

Training Value Function

bash
python train_pistar05_value.py \
    --dataset_repo_id apaszynska/merged-recap-cup-training \
    --output_dir outputs/pistar05_pretrain \
    --mode pretrain

License

Apache 2.0