ar0s/kuka-centrifuge-smooth-cycle_20260919
This dataset was created using LeRobot. Dataset Description One successful full centrifuge cycle with revised robot motion: open, load both vials, close, press Start, wait two seconds, press Stop, wait for standstill, reopen, unload, and return both vials to their initial bench positions. The wait precedes movement to Stop, so the running interval also includes button approach and retreat. The expert uses ordinary Cartesian pose and gripper actions. Clear-space pickup… See the full description on the dataset page: https://huggingface.co/datasets/ar0s/kuka-centrifuge-smooth-cycle_20260919.
This dataset was created using LeRobot.
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Dataset Description
One successful full centrifuge cycle with revised robot motion: open, load both vials, close, press Start, wait two seconds, press Stop, wait for standstill, reopen, unload, and return both vials to their initial bench positions. The wait precedes movement to Stop, so the running interval also includes button approach and retreat. The expert uses ordinary Cartesian pose and gripper actions.
Clear-space pickup paths blend corners with quintic Bezier curves, then follow an eased time profile. Transfer commands are bounded to 0.12 m/s and 0.4 m/s². Rotor indexing uses an eased turn bounded to 0.3 rad/s. Contact-sensitive insertion, lid, and extraction moves retain their smaller steps. An erroneous 180-degree button retreat rotation and a zero-angle carry loop were removed; long moves and rotor release waits can finish once measured settling criteria hold.
This episode has 15,372 frames at 30 fps (512.4 seconds), two 640x480 RGB cameras (front-center and wrist-left), and TCP visualization. Both videos decode every frame and match finite recorded action/state rows and checked timestamps. The final task success check passed; return errors were approximately 4.4 and 6.1 mm.
Compared with the earlier successful ar0s/kuka-centrifuge-full-cycle_20260919 episode: duration 660.6 to 512.4 seconds, accumulated wrist rotation 2190.5 to 1392.9 degrees, and quiet time 199.3 to 145.9 seconds. Quiet means recorded TCP speed below 1 mm/s and angular speed below 0.01 rad/s. These compare two episodes, not a controlled benchmark: rotor settling and contact retries vary even with recorder seed 1.
This is one successful simulated demonstration, not a reliability benchmark. Other trials still failed at vial capture/release, lid closing, or unloading. Those failures are not included. No physics assets or success tolerances were changed for the motion improvements.
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Dataset Structure
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BibTeX:
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