Upload clean UR7e stack block LeRobot dataset
Browse filesClean 100-episode UR7e stack-block dataset for VLA tuning.
- LeRobot codebase_version: v3.0
- Action convention: absolute skill target action, not delta action
- Sources listed in meta/clean_source_manifest.json
- Legacy low-quality sessions excluded before upload
- README.md +66 -0
- data/chunk-000/file-000.parquet +3 -0
- meta/clean_source_manifest.json +719 -0
- meta/episodes/chunk-000/file-000.parquet +3 -0
- meta/info.json +223 -0
- meta/stats.json +1063 -0
- meta/tasks.parquet +3 -0
- videos/observation.images.realsense_topview/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.realsense_topview/chunk-000/file-001.mp4 +3 -0
- videos/observation.images.realsense_wrist/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.realsense_wrist/chunk-000/file-001.mp4 +3 -0
- videos/observation.images.realsense_wrist/chunk-000/file-002.mp4 +3 -0
README.md
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---
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license: apache-2.0
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task_categories:
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- robotics
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tags:
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- LeRobot
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- lerobot
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- v3.0
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- robotics
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- ur7e
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- universal-robots
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- real-robot
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- robotiq-2f85
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- realsense
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- multi-camera
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- code-as-policies
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- vla
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- smolvla
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- imitation-learning
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- manipulation
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- stacking
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- absolute-action
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- skill-target-action
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- corl2026-csi
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pretty_name: UR7e CaP Stack Block 100 Episodes
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size_categories:
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- 100<n<1K
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---
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# UR7e CaP Stack Block 100 Episodes
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This dataset contains 100 clean forward-success demonstrations for a real UR7e stacking task, recorded in LeRobot v3.0 format.
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Task instruction: **Build a stack on the blue dish with the red block on the bottom, the green block in the middle, and the blue block on top.**
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## Dataset Summary
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- Robot: Universal Robots UR7e
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- Gripper: Robotiq 2F-85 style gripper signal represented as a ratio
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- Cameras: RealSense topview and RealSense wrist, stored as video features
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- Format: LeRobot v3.0
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- Nominal FPS: 30
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- Episodes: 100 selected clean forward episodes
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- Action convention: absolute target action, matching `skill.goal_position.joint`; this is not a delta-action dataset
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- Task type: real-robot block stacking with partial closed-loop redetection between stack stages
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## Features
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Core learning fields include:
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- `observation.state`: 6 UR7e arm joint positions plus gripper ratio
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- `action`: absolute target joint action, 6 arm joint targets plus gripper target
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- `observation.images.realsense_topview`: top-view RGB video
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- `observation.images.realsense_wrist`: wrist RGB video
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- `skill.type`, `skill.progress`, `skill.goal_position.*`, and `skill.natural_language`: skill-level target/context annotations
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- `observation.ee_pos.robot_xyzrpy` and `observation.gripper_binary`: auxiliary robot state annotations
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## Quality Notes
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The uploaded split intentionally excludes early legacy recordings that had irregular frame timing, missing per-frame camera synchronization audit metadata, and compressed one-frame gripper transitions. The selected 100 episodes passed local checks for raw-file completeness, frame/image count consistency, finite state/action values, monotonic timestamps, camera sync metadata presence, and successful forward-task judging.
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Partial closed-loop stack stages intentionally pause and redetect between stages. Those detection intervals are not part of the recorded forward motion segments; the uploaded episodes contain the robot execution data intended for VLA tuning.
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## Provenance
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A source manifest is included at `meta/clean_source_manifest.json`, mapping every uploaded LeRobot episode back to its local raw session and episode number.
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data/chunk-000/file-000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:d44a05609696f336a3a59e889e059da59d8dc63a3200c67ff79c7c82572f7434
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size 19629841
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meta/clean_source_manifest.json
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| 146 |
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| 176 |
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}
|
meta/stats.json
ADDED
|
@@ -0,0 +1,1063 @@
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