cloudfan/intern-pour-lerobot

pour: robot demonstrations

Instruction: Pick up the small glass cup by its handle, pour the water into the large beaker, and place the cup back on the table.

LeRobot v3.0 dataset: 51 episodes, 44042 frames, nominal 30 Hz. Robot schema: intern_gello_7dof_robotiq. Original source recordings are retained by the owner.

Use

from lerobot.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset("cloudfan/intern-pour-lerobot", video_backend="torchcodec")
sample = dataset[0]
print(sample["task"], sample["observation.state"].shape, sample["action"].shape)

Copy intern_gello_7dof_robotiq.yaml into the InternVLA A-series training project's src/lerobot/dataset_schemas/configs/ directory. Use action_mode=abs and the dataset's own normalization statistics initially. The schema maps two RGB views; tactile/force channels are retained as auxiliary data, not automatically consumed by the RGB baseline.

Fields

• —observation.state: 7 measured joint angles + measured Robotiq knuckle angle (radians).
• —action: 7 absolute GELLO joint targets + commanded gripper open fraction (0 closed, 1 open). Actions and observations use the same recorded frame, without an artificial temporal shift.
• —observation.images.cam_high, observation.images.cam_front: 480 x 640 RGB.
• —observation.images.tactile_left_aug_diff, observation.images.tactile_right_aug_diff: 700 x 400 RGB touch images.
• —observation.wrench, observation.wrench_valid: force/torque and per-axis validity flags. 3 episodes have missing force readings; only missing entries are filled with zero.
• —observation.eef_pose: original six-value pose without inferred coordinate conversion.
• —observation.gripper_command: original recorded follower gripper command.
• —source_timestamp: original float64 timestamps retained in parquet.

Original JPEG packets are remuxed into MJPEG MP4 with no resize or re-encoding. Every recorded frame is retained; standard timestamps are frame_index / 30 rather than wall-clock resampling. The actual capture FPS is available in the source manifest. The gripper state (angle) and action (open fraction) have different physical meanings; for delta control, apply subtraction only to the seven arm joints, using mask [7, -1].

Quality and provenance

All source episodes are retained without success filtering. The prompt describes the intended goal, not an annotation that every demonstration succeeded. Numeric fields were compared to source values, JPEG bytes/order were SHA256-checked per stream, and first/middle/last frames in every episode were decoded through InternVLA's LeRobot loader. See meta/validation.json, meta/source_manifest.json, and meta/conversion.json for the full record.

Validated with InternVLA A-series.