metadata
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.
Dataset Description
FMB (Functional Manipulation Benchmark) insert primitive — the complete set, converted to LeRobot v3.0 for pi0.5 (pi05) SFT.
4,049 episodes / 178,501 frames / 54 tasks — all 54 pegs (9 shapes x 3 sizes x 2 lengths), 75 episodes each. Single-peg subsets: DAVIAN-Robotics/fmb-insert-2LS-4cam (shape 2 / L / S, the cylinder) and DAVIAN-Robotics/fmb-insert-1MS-4cam (shape 1 / M / S, the hexagon).
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, over 120 GB for this set). 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 thatlerobot/pi05_basewas trained on) observation.state(8) =tcp_pose(7) +gripper(1), the pi05 conventionaction(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)
Measured properties (not from FMB's documentation)
FMB does not publish these; they were measured from the data itself.
- Control rate is about 9 Hz, not the round 10. Dividing the per-frame TCP displacement by the matching
tcp_velgives a median dt of 0.111 s (8.2-9.2 Hz across episodes).fpsis stored as 10; it affects only LeRobot timestamps and chunk interpretation, but a policy deployed at a different rate will move proportionally faster or slower, because the actions are deltas. - One unit of action is roughly 12-18 mm: regressing per-frame displacement on action gives 11.5 / 17.7 / 11.6 mm per unit for x / y / z (correlation 0.75 / 0.87 / 0.53; z is lowest because contact resists the commanded motion).
- Episode lengths vary widely: min 17, median 46, p95 79, max 128 steps.
- Every episode's
object_infowas cross-checked against its filename during conversion.
Shape numbering
object_meta[0] is FMB's shape number. Matching those numbers to the published CAD is not possible from dimensions alone — three of the nine shapes are circular cross-sections that differ only in diameter. Shapes 2, 3 and 8 are the circular family; shape 2 is the large cylinder (diameters 32.43 / 40.32 / 49.81 mm for S / M / L).
Visualize
Open in the LeRobot dataset visualizer
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: cc-by-4.0
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "franka",
"total_episodes": 4049,
"total_frames": 178501,
"total_tasks": 54,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:4049"
},
"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:
[More Information Needed]