disassembly
GNN_Disassembly_WorldModel
GNN Constraint-Aware World Model Dataset (v3)
Real robot episodes with per-frame constraint graphs, SAM2 segmentation masks + 256-D feature embeddings, full 3D depth bundles, and synchronized robot states across two manipulation domains. Both domains share the v3 on-disk layout (same JSON/NPZ schemas, same delta-encoded frame_states, same fully-connected PyG expansion at load time) and now share a unified 270-D node feature format — the PyG loader reads a fixed 10-D type… See the full description on the dataset page: https://huggingface.co/datasets/ChangChrisLiu/GNN_Disassembly_WorldModel.dk1_duplo_disassembly_2026-04-04This dataset was created using LeRobot.
Dataset Description
Bimanual duplo disassembly demonstrations with DK1 robot
Robot: TRLC DK1 bimanual (bi_dk1_follower) — 2× 6-DOF arms with grippers
Task: separate the duplo bricks
Episodes: 42
Total frames: 86,441 (48.0 min @ 30 fps)
Avg episode length: 68.6s
License: apache-2.0
Cameras
Camera
Resolution
Codec
FPS
observation.images.head
640x360
h264
30
observation.images.left_wrist
640x360
h264
30… See the full description on the dataset page: https://huggingface.co/datasets/andreaskoepf/dk1_duplo_disassembly_2026-04-04.lego_disassembly2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so_follower",
"total_episodes": 431,
"total_frames": 387874,
"total_tasks": 3,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:431"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/Jessely/lego_disassembly2.lego_disassembly1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so_follower",
"total_episodes": 300,
"total_frames": 269975,
"total_tasks": 3,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:300"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/Jessely/lego_disassembly1.dk1_duplo_disassemblyThis dataset was created using LeRobot.
Dataset Description
Bimanual duplo disassembly demonstrations with DK1 robot
Robot: TRLC DK1 bimanual (bi_dk1_follower) — 2× 6-DOF arms with grippers
Task: disassemble duplo
Episodes: 33
Total frames: 43,214 (24.0 min @ 30 fps)
Avg episode length: 43.7s
License: apache-2.0
Cameras
Camera
Resolution
Codec
FPS
observation.images.head
640x360
h264
30
observation.images.left_wrist
640x360
h264
30… See the full description on the dataset page: https://huggingface.co/datasets/andreaskoepf/dk1_duplo_disassembly.assembly_peg_insert_disassemblyThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": null,
"total_episodes": 58,
"total_frames": 812,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 5,
"splits": {
"train": "0:58"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/lukasskellijs/assembly_peg_insert_disassembly.