mickeykang/dvla-place7obj-roll-250hz-events-250fps-delta-trim
This dataset was created using LeRobot. Dataset Description 7-object place (MuJoCo / robosuite, 250 Hz, event + RGB) 14,083 successful demonstrations of a Panda arm picking an object off the table and dropping it into a receptacle (bowl / plate / tray), across 7 objects: 5 grocery objects (10,083 episodes): can, apple, avocado, potato, lemon 2 round textured objects (4,000 episodes): tennis ball, baseball This dataset is the union of… See the full description on the dataset page: https://huggingface.co/datasets/mickeykang/dvla-place7obj-roll-250hz-events-250fps-delta-trim.
This dataset was created using LeRobot.
Dataset Description
7-object place (MuJoCo / robosuite, 250 Hz, event + RGB)
14,083 successful demonstrations of a Panda arm picking an object off the table and dropping it into a receptacle (bowl / plate / tray), across 7 objects:
- 5 grocery objects (10,083 episodes): can, apple, avocado, potato, lemon
- 2 round textured objects (4,000 episodes): tennis ball, baseball
This dataset is the union of dvla-place5obj-roll-250hz-events-250fps-delta-trim (10,083) and a new place2obj set (tennis + baseball, 4,000). 80% of episodes start with the object rolling (launch speed 0.25-1.5 m/s); the rest are static. Demonstrations come from a scripted state machine that reads privileged simulator state, and only successful attempts are kept. The two round objects also use an in-reach spawn + a workspace reach-gate so the arm never over-extends.
Layout
LeRobot v2.1, robot_type: panda, 3 RGB cameras + 3 DVS-event cameras at 360x480 (wrist_cam, side_cam, opst_cam and their _events pair). Training typically uses opst_cam + wrist_cam only.
action(10,) =[dx, dy, dz, sin/cos of the 3 euler angles, gripper]observation.state(9,) =[x, y, z, sin/cos of the 3 euler angles]observation.environment_state(9,) = privileged object pose/velocity. Dropped during training (not available on a real robot).
action is a delta (absolute target minus the same frame's state); at eval it is decoded as target = live_state + predicted_delta, re-anchored every step. The absolute target it encodes is a future-EE relabel: the pose the arm actually reached 320 ms (80 frames @ 250 Hz) later. Control 250 Hz; events generated with v2e; delta-trim preprocessing (sincos -> delta -> leading-hold trim).
- Homepage: https://github.com/mickeykang16/DynamicVLA/tree/mujoco
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 14083,
"total_frames": 11561473,
"total_tasks": 105,
"total_videos": 84498,
"total_chunks": 15,
"chunks_size": 1000,
"fps": 250,
"splits": {
"train": "0:14083"
},
"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": {
"action": {
"dtype": "float32",
"shape": [
10
],
"names": [
"ee_pos_x",
"ee_pos_y",
"ee_pos_z",
"ee_rot_x_sin",
"ee_rot_x_cos",
"ee_rot_y_sin",
"ee_rot_y_cos",
"ee_rot_z_sin",
"ee_rot_z_cos",
"gripper"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
9
],
"names": [
"ee_pos_x",
"ee_pos_y",
"ee_pos_z",
"ee_rot_x_sin",
"ee_rot_x_cos",
"ee_rot_y_sin",
"ee_rot_y_cos",
"ee_rot_z_sin",
"ee_rot_z_cos"
]
},
"observation.environment_state": {
"dtype": "float32",
"shape": [
9
],
"names": [
"o0",
"o1",
"o2",
"o3",
"o4",
"o5",
"o6",
"o7",
"o8"
]
},
"observation.images.wrist_cam": {
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"shape": [
360,
480,
3
],
"names": [
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],
"info": {
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"video.width": 480,
"video.codec": "h264",
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"video.is_depth_map": false,
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"video.channels": 3,
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}
},
"observation.images.side_cam": {
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3
],
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],
"info": {
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"video.is_depth_map": false,
"video.fps": 250,
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}
},
"observation.images.opst_cam": {
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],
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"info": {
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"has_audio": false
}
},
"observation.images.wrist_cam_events": {
"dtype": "video",
"shape": [
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3
],
"names": [
"height",
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"channel"
],
"info": {
"video.height": 360,
"video.width": 480,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 250,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.side_cam_events": {
"dtype": "video",
"shape": [
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],
"names": [
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],
"info": {
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"video.is_depth_map": false,
"video.fps": 250,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.opst_cam_events": {
"dtype": "video",
"shape": [
360,
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3
],
"names": [
"height",
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"channel"
],
"info": {
"video.height": 360,
"video.width": 480,
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"video.is_depth_map": false,
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"video.channels": 3,
"has_audio": false
}
},
"timestamp": {
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"names": null
},
"frame_index": {
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"episode_index": {
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"index": {
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"task_index": {
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}
}
}Citation
BibTeX:
[More Information Needed]