| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - ur7e |
| - gello |
| - robot-manipulation |
| - raw-data |
| - carrot-in-pot |
| - lighting |
| size_categories: |
| - 100M<n<1B |
| --- |
| |
| # Carrot in Pot — Raw Collection (Additional Lighting) |
|
|
| This repository preserves the original, unconverted data from the 2026-09-18 `carrot_in_pot` collection session. It is the raw source for the corresponding [LeRobot-formatted dataset](https://huggingface.co/datasets/Bigenlight/carrot_in_pot_lighting_lerobot_v3). |
|
|
|  |
|
|
| *Task scene captured on 2026-09-18. The two visible softbox lights are the added-lighting setup used during this collection.* |
|
|
| ## Collection condition: additional lighting |
|
|
| **Additional task lighting was installed and used throughout this entire collection session.** This is the primary difference from the earlier `carrot_in_pot` dataset. Keep this domain change in mind when comparing, training, or evaluating across the two datasets. |
|
|
| ## Contents |
|
|
| - 65 takes, stored verbatim under their original take directory names. |
| - Each take contains: |
| - `vectors.h5` — recorded vectors / robot trajectory data. |
| - `cam1.mp4` — camera 1 RGB video. |
| - `cam2.mp4` — camera 2 RGB video. |
| - No depth recordings are included in this session. |
|
|
| The take directory names have deliberately not been renamed or normalized. The raw layout is: |
|
|
| ```text |
| take_<number>_<timestamp>[/_recover|_recover_twice]/ |
| vectors.h5 |
| cam1.mp4 |
| cam2.mp4 |
| ``` |
|
|
| ## Recovery-labelled takes |
|
|
| `_recover` and `_recover_twice` are original collection labels, preserved exactly in directory names and in the LeRobot conversion. They identify trials where the task attempt failed and was retried once or twice. They are not arbitrary filenames; retain these labels when selecting recovery-focused evaluation subsets. |
|
|
| Recovery-labelled takes: |
|
|
| ```text |
| take_06_20260918_202527_recover |
| take_07_20260918_202637_recover |
| take_08_20260918_195306_recover |
| take_08_20260918_202709_recover |
| take_09_20260918_202737_recover_twice |
| take_41_20260918_200952_recover |
| take_42_20260918_201017_recover |
| take_44_20260918_201121_recover |
| take_45_20260918_201147_recover |
| ``` |
|
|
| ## Using the data |
|
|
| Use these files if you need the source recordings or want to run a different conversion pipeline. For standard LeRobot training/loading, use [Bigenlight/carrot_in_pot_lighting_lerobot_v3](https://huggingface.co/datasets/Bigenlight/carrot_in_pot_lighting_lerobot_v3) instead. |
|
|
| The raw takes were converted with the repository's `convert_takes_to_lerobot.py` workflow and independently validated: all 65 takes passed, with 20,472 RGB frames in the converted dataset. |
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|
