| --- |
| license: cc-by-4.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - robotics |
| - FMB |
| - pi05 |
| - manipulation |
| - insertion |
| configs: |
| - config_name: default |
| data_files: data/*/*.parquet |
| --- |
| |
| This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
|
|
| ## Dataset Description |
|
|
| FMB (Functional Manipulation Benchmark) **insert** primitive, converted to LeRobot v3.0 for pi0.5 (pi05) SFT. |
|
|
| **Single-peg subset**: shape 1 / size M / length S only (75 episodes). The full insert set is at `DAVIAN-Robotics/fmb-insert-4cam`. |
|
|
| ## Source and license |
|
|
| Derived from the FMB single-object manipulation dataset (`insert_only_*.npy`), released by the RAIL lab at UC Berkeley under **CC BY 4.0**. This derived dataset carries the same license. If you use it, cite the original work: |
|
|
| ``` |
| @article{luo2024fmb, |
| title={FMB: a Functional Manipulation Benchmark for Generalizable Robotic Learning}, |
| author={Luo, Jianlan and Xu, Charles and Liu, Fangchen and Tan, Liam and Lin, Zipeng and Wu, Jeffrey and Abbeel, Pieter and Levine, Sergey}, |
| journal={arXiv preprint arXiv:2401.08553}, |
| year={2024} |
| } |
| ``` |
|
|
| Project page: https://functional-manipulation-benchmark.github.io/ |
|
|
| ## What was kept and what was dropped |
|
|
| Everything in the source `.npy` **except the four depth maps**, which were dropped for size (uint16 256x256 x4 = 512 KB/frame). The original `.npy` files remain the place to go for depth. |
|
|
| - 4 RGB views, remapped to pi05 camera slots: `side_1` -> `base_0_rgb`, `wrist_1` -> `left_wrist_0_rgb`, `wrist_2` -> `right_wrist_0_rgb`, `side_2` -> `side_1_rgb` (the fourth is an extra slot beyond the 3 that `lerobot/pi05_base` was trained on) |
| - `observation.state` (8) = `tcp_pose` (7) + `gripper` (1), the pi05 convention |
| - `action` (7) = FMB's own commanded action: **normalized Cartesian delta [-1, 1] x 6 + gripper**. Not an absolute pose — do not apply a delta transform on top of it |
| - Original fields preserved alongside: `tcp_pose` (7), `tcp_vel` (6), `gripper` (1), `joint_pos` (7), `joint_vel` (7), `tcp_force` (3), `tcp_torque` (3), `jacobian` (42, row-major 6x7), `primitive_id` (1), `object_meta` (6 = shape, size, length, color, angle, distractor) |
|
|
| ## Caveats |
|
|
| - **fps = 10 is an assumption.** FMB does not publish its control frequency; 10 Hz was inferred from a sample trajectory (16 cm TCP descent over 60 steps). It affects only LeRobot timestamps and chunk interpretation. |
| - Episode lengths vary: min 17, median 46, max 128 steps (measured over 120 samples of the full insert set). |
| - Every episode's `object_info` was cross-checked against its filename during conversion. |
| ## Visualize |
|
|
| [Open in the LeRobot dataset visualizer](https://huggingface.co/spaces/lerobot/visualize_dataset?dataset=DAVIAN-Robotics/fmb-insert-1MS-4cam&episode=0) |
|
|
|
|
| - **Homepage:** [More Information Needed] |
| - **Paper:** [More Information Needed] |
| - **License:** cc-by-4.0 |
|
|
| ## Dataset Structure |
|
|
| [meta/info.json](meta/info.json): |
| ```json |
| { |
| "codebase_version": "v3.0", |
| "robot_type": "franka", |
| "total_episodes": 75, |
| "total_frames": 3618, |
| "total_tasks": 1, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "fps": 10, |
| "splits": { |
| "train": "0:75" |
| }, |
| "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.state": { |
| "dtype": "float32", |
| "shape": [ |
| 8 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z", |
| "qw", |
| "qx", |
| "qy", |
| "qz", |
| "gripper" |
| ] |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "dx", |
| "dy", |
| "dz", |
| "droll", |
| "dpitch", |
| "dyaw", |
| "gripper" |
| ] |
| }, |
| "observation.gripper": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "gripper" |
| ] |
| }, |
| "observation.jacobian": { |
| "dtype": "float32", |
| "shape": [ |
| 42 |
| ], |
| "names": [ |
| "j00", |
| "j01", |
| "j02", |
| "j03", |
| "j04", |
| "j05", |
| "j06", |
| "j10", |
| "j11", |
| "j12", |
| "j13", |
| "j14", |
| "j15", |
| "j16", |
| "j20", |
| "j21", |
| "j22", |
| "j23", |
| "j24", |
| "j25", |
| "j26", |
| "j30", |
| "j31", |
| "j32", |
| "j33", |
| "j34", |
| "j35", |
| "j36", |
| "j40", |
| "j41", |
| "j42", |
| "j43", |
| "j44", |
| "j45", |
| "j46", |
| "j50", |
| "j51", |
| "j52", |
| "j53", |
| "j54", |
| "j55", |
| "j56" |
| ] |
| }, |
| "observation.primitive_id": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "primitive_id" |
| ] |
| }, |
| "observation.object_meta": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "shape", |
| "size", |
| "length", |
| "color", |
| "angle", |
| "distractor" |
| ] |
| }, |
| "observation.tcp_pose": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "tcp_pose_0", |
| "tcp_pose_1", |
| "tcp_pose_2", |
| "tcp_pose_3", |
| "tcp_pose_4", |
| "tcp_pose_5", |
| "tcp_pose_6" |
| ] |
| }, |
| "observation.tcp_vel": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "tcp_vel_0", |
| "tcp_vel_1", |
| "tcp_vel_2", |
| "tcp_vel_3", |
| "tcp_vel_4", |
| "tcp_vel_5" |
| ] |
| }, |
| "observation.joint_pos": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "joint_pos_0", |
| "joint_pos_1", |
| "joint_pos_2", |
| "joint_pos_3", |
| "joint_pos_4", |
| "joint_pos_5", |
| "joint_pos_6" |
| ] |
| }, |
| "observation.joint_vel": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "joint_vel_0", |
| "joint_vel_1", |
| "joint_vel_2", |
| "joint_vel_3", |
| "joint_vel_4", |
| "joint_vel_5", |
| "joint_vel_6" |
| ] |
| }, |
| "observation.tcp_force": { |
| "dtype": "float32", |
| "shape": [ |
| 3 |
| ], |
| "names": [ |
| "tcp_force_0", |
| "tcp_force_1", |
| "tcp_force_2" |
| ] |
| }, |
| "observation.tcp_torque": { |
| "dtype": "float32", |
| "shape": [ |
| 3 |
| ], |
| "names": [ |
| "tcp_torque_0", |
| "tcp_torque_1", |
| "tcp_torque_2" |
| ] |
| }, |
| "observation.images.base_0_rgb": { |
| "dtype": "video", |
| "shape": [ |
| 256, |
| 256, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "info": { |
| "video.height": 256, |
| "video.width": 256, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 10, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.left_wrist_0_rgb": { |
| "dtype": "video", |
| "shape": [ |
| 256, |
| 256, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "info": { |
| "video.height": 256, |
| "video.width": 256, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 10, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.right_wrist_0_rgb": { |
| "dtype": "video", |
| "shape": [ |
| 256, |
| 256, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "info": { |
| "video.height": 256, |
| "video.width": 256, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 10, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.side_1_rgb": { |
| "dtype": "video", |
| "shape": [ |
| 256, |
| 256, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "info": { |
| "video.height": 256, |
| "video.width": 256, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 10, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "timestamp": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "frame_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "episode_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "task_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| } |
| } |
| } |
| ``` |
|
|
|
|
| ## Citation |
|
|
| **BibTeX:** |
|
|
| ```bibtex |
| [More Information Needed] |
| ``` |
