Datasets:
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observation.state
list | action
list | timestamp
float32 0
43.8
| frame_index
int64 0
1.32k
| episode_index
int64 0
99
| index
int64 0
65.2k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
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End of preview. Expand
in Data Studio
OpenArm Pick v6 - LeRobot Dataset
A LeRobot v2.1 dataset for bimanual robot manipulation, recorded in Isaac Sim with teleoperation.
Dataset Description
This dataset contains teleoperated demonstrations of a bimanual OpenArm robot performing pick-and-place tasks. It was created for training the Pi0.5 model for robotic manipulation.
Quick Stats
| Property | Value |
|---|---|
| Robot | openarm_bimanual |
| Episodes | 100 |
| Total Frames | 65,190 |
| Duration | ~36.2 minutes |
| FPS | 30 Hz |
| Cameras | 3 (head, wrist_left, wrist_right) |
| State Dimension | 16 |
| Action Dimension | 16 |
| Format | LeRobot v2.1 |
Tasks
- grab the electric screwdriver from the table and drop it inside the box
State/Action Space
The robot has 16 degrees of freedom (2 arms × (7 joints + 1 gripper)):
State/Action indices:
[0-6] Left arm joints (rad)
[7] Left gripper (normalized 0-1)
[8-14] Right arm joints (rad)
[15] Right gripper (normalized 0-1)
Camera Configuration
| Camera | Resolution | Codec | FPS |
|---|---|---|---|
| head | 480x360 | av1 | 30 |
| wrist_left | 480x360 | av1 | 30 |
| wrist_right | 480x360 | av1 | 30 |
Visualization
You can visualize this dataset using the LeRobot visualization space:
Usage
Loading with LeRobot
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset("AiSaurabhPatil/openarm_pick_v6")
# Get a sample
sample = dataset[0]
print(sample.keys())
# dict_keys(['observation.state', 'action', 'observation.images.head', ...])
Training with OpenPI
This dataset can be used directly with OpenPI for Pi0.5 finetuning:
cd openpi
uv run scripts/train.py pi05_openarm --exp-name=my_experiment
Dataset Structure
AiSaurabhPatil/openarm_pick_v6/
├── data/
│ └── chunk-000/
│ ├── episode_000000.parquet
│ ├── episode_000001.parquet
│ └── ...
├── videos/
│ └── chunk-000/
│ ├── observation.images.head/
│ ├── observation.images.wrist_left/
│ └── observation.images.wrist_right/
└── meta/
├── info.json
├── tasks.jsonl
├── episodes.jsonl
└── episodes_stats.jsonl
Data Collection
- Platform: Isaac Sim (NVIDIA Omniverse)
- Control: VR teleoperation with Quest 3
- Recording: Custom ROS2 bridge + LeRobot recording script
Citation
If you use this dataset, please cite:
@dataset{openarm_pick_v6,
author = {AiSaurabhPatil},
title = {OpenArm Pick v6 - LeRobot Dataset},
year = {2026},
publisher = {Hugging Face},
url = {https://huggingface.co/datasets/AiSaurabhPatil/openarm_pick_v6}
}
License
Apache 2.0
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