Datasets:
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observation.state
listlengths 8
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float64 -1
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74.1
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1.11k
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161
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35.7k
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0
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End of preview. Expand
in Data Studio
ARX Pick Block Dataset
This dataset was created using LeRobot and contains dual-arm robotic manipulation demonstrations for pick-and-place tasks.
Task Overview
This dataset contains demonstrations of a dual-arm robotic manipulation task where the robot picks up a block from a desk and places it into a plate.
Task Details
- Task Objective: Pick up the block from the desk and place into plate
- Operational Objects: Block
- Operation Duration: Each operation takes approximately 8 to 15 seconds
- Recording Frequency: 15 Hz
- Robot Type: 7-DOF dual-arm ARX R5A
- End Effector: Gripper
- Dual-Arm Operation: Yes
- Image Resolution: 640x480
- Camera Positions: High; Low
- Data Content: • Robot's current state (8 joint positions) • Robot's next action (8 joint commands) • Current camera view images (dual camera setup) • Task success score
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "Arx_R5A",
"total_episodes": 162,
"total_frames": 35733,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 15,
"splits": {
"train": "0:162"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
"observation.images.camera_high": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.camera_low": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"observation.state": {
"dtype": "float64",
"shape": [
8
],
"names": [
"joint1",
"joint2",
"joint3",
"joint4",
"joint5",
"joint6",
"joint7",
"joint8"
]
},
"action": {
"dtype": "float64",
"shape": [
8
],
"names": [
"joint1",
"joint2",
"joint3",
"joint4",
"joint5",
"joint6",
"joint7",
"joint8"
]
},
"observation.score": {
"dtype": "float32",
"shape": [
1
],
"names": [
"score"
]
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": []
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": []
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": []
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": []
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": []
}
}
}
Data Fields
| Field | Type | Shape | Description |
|---|---|---|---|
observation.images.camera_high |
video | (480, 640, 3) | High camera view |
observation.images.camera_low |
video | (480, 640, 3) | Low camera view |
observation.state |
float64 | (8,) | Joint positions (joint1-joint8) |
action |
float64 | (8,) | Joint commands (joint1-joint8) |
observation.score |
float32 | (1,) | Task success score |
timestamp |
float32 | (1,) | Timestamp |
frame_index |
int64 | (1,) | Frame index within episode |
episode_index |
int64 | (1,) | Episode index |
task_index |
int64 | (1,) | Task index |
Dataset Statistics
- Total Episodes: 162
- Total Frames: 35,733
- Total Tasks: 1
- Frame Rate: 15 FPS
- Data Size: ~100 MB (parquet files)
- Video Size: ~500 MB (MP4 files)
- Chunk Size: 1000 frames per chunk
Citation
If you use this dataset in your research, please cite:
@dataset{arx_pick_block_2024,
title={ARX Pick Block Dataset},
author={IO Intelligence},
year={2024},
url={https://huggingface.co/datasets/io-intelligence/arx_pick_block},
license={Apache-2.0}
}
License
This dataset is released under the Apache License 2.0. See the LICENSE file for more details.
Contributing
Contributions to improve this dataset are welcome! Please feel free to submit issues or pull requests.
Contact
For questions or support, please contact us at https://io-ai.tech.
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