Create README.md

README.md

@@ -0,0 +1,220 @@
+---
+license: apache-2.0
+task_categories:
+- robotics
+tags:
+- LeRobot
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
+
+## Dataset Description
+
+This dataset contains the first set of teleoperated demonstrations collected during a two-day hackathon using the LeRobot library and SO-101 robot arms in a leader–follower setup.
+Each episode shows the follower arm picking one colored cube and placing it onto the matching colored cross inside a 2×2 grid.
+
+Two synchronized RGB cameras were used:
+
+- **Top camera**: overhead, provides a full 2D view of the workspace (arm, cube, grid).
+
+- **Front/low camera**: slightly above ground level, facing the arm and grid to capture z-axis cues and arm self-pose.
+
+The background was masked with cardboard panels, but ambient lighting varied throughout the day; this variation is preserved and is useful for robustness studies.
+
+Intended for vision-based imitation learning, multi-view fusion, and tabletop manipulation research.
+
+
+### Use Cases
+
+- **Imitation Learning**: Behavior cloning from teleop demonstrations.
+
+- **Multiview Perception**: Fusing top + front perspectives for depth inference without explicit depth sensors.
+
+- **Robustness to Lighting**: Evaluating policy sensitivity to illumination drift.
+
+- **State–Action Alignment**: Leveraging synchronized proprioception and images.
+
+- **Policy Bootstrapping for curricula**: pretrain on single-cube before multi-cube tasks.
+
+
+## Data Collection
+
+### Teleoperation & Hardware
+
+- **Leader–Follower teleop**: human drives a leader arm; follower SO-101 replicates to produce demonstrations.
+
+- **Workspace**: Tabletop with 2×2 grid; only one cell has a colored cross. One cube is placed in its matching cross per episode.
+
+- **Cameras**:
+
+  - **Front**: static overhead.
+
+  - **Left**: static frontal view emphasizing depth.
+
+- **Environment**: Cardboard background; illumination changes across time are present in the data.
+
+### Episode Protocol
+
+1- Move to pre-grasp and visually localize the target cube.
+
+2- Approach and grasp the cube.
+
+3- Transport and align over the colored cross.
+
+4- Place, release, and return to neutral.
+
+
+## Known Limitations
+
+Lighting drift: Varying brightness/temperature across episodes; apply color constancy, normalization, or photometric augmentation.
+
+Occlusions: Hand/gripper and cube may occlude from the front camera during close approaches.
+
+No depth sensor: Only RGB; consider multi-view fusion or learned depth cues.
+
+Action semantics: Confirm whether actions are delta-pose or joint velocities in each metadata.json.
+
+Early-phase variability: Being the first batch, some episodes may include exploratory motions, hesitations, or failed initial grasps that later recover—useful for learning robustness but consider filtering for clean BC.
+
+
+## Additional Information
+
+- **Homepage:** [deel-ai](https://www.irt-saintexupery.com/deel/)
+
+- **License:** apache-2.0
+
+## Dataset Structure
+
+[meta/info.json](meta/info.json):
+```json
+{
+    "codebase_version": "v3.0",
+    "robot_type": "so101_follower",
+    "total_episodes": 206,
+    "total_frames": 84098,
+    "total_tasks": 1,
+    "chunks_size": 1000,
+    "data_files_size_in_mb": 100,
+    "video_files_size_in_mb": 500,
+    "fps": 30,
+    "splits": {
+        "train": "0:206"
+    },
+    "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": {
+        "action": {
+            "dtype": "float32",
+            "names": [
+                "shoulder_pan.pos",
+                "shoulder_lift.pos",
+                "elbow_flex.pos",
+                "wrist_flex.pos",
+                "wrist_roll.pos",
+                "gripper.pos"
+            ],
+            "shape": [
+                6
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "names": [
+                "shoulder_pan.pos",
+                "shoulder_lift.pos",
+                "elbow_flex.pos",
+                "wrist_flex.pos",
+                "wrist_roll.pos",
+                "gripper.pos"
+            ],
+            "shape": [
+                6
+            ]
+        },
+        "observation.images.left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.front": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "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
+        }
+    }
+}
+```