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observation.state
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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

meta/info.json:

{
    "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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