| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - real-robot |
| - manipulation |
| - ur5e |
| - imitation-learning |
| size_categories: |
| - 100K<n<1M |
| --- |
| |
| # Real Robot Manipulation Dataset |
|
|
| Tabletop manipulation tasks recorded on a **UR5e** with a **Robotiq 2F-140** |
| gripper. Most tasks use two **Intel RealSense** cameras (fixed base + wrist-mounted); |
| the newest `hide_block_with_cup` task adds a third (opposite-side counter view). |
| All recordings at **20 Hz**. |
|
|
| ## Tasks |
|
|
| | Folder | Eps | Cameras | Instruction | |
| |---|---|---|---| |
| | `put_blocks_in_plate` | 100 | 2 | Pick two blocks from the table and place them on the plate. | |
| | `remove_blocks_from_plate` | 100 | 2 | Pick two blocks off the plate and place them on the table. | |
| | `hide_blocks_with_bowl` | 100 | 2 | Pair the two blocks together and cover them with the bowl. | |
| | `remove_blocks_under_bowl` | 100 | 2 | Uncover the hidden blocks and spread the three objects out. | |
| | `hide_blocks_with_cup` | 100 | 2 | Cover each block with an upside-down cup. | |
| | `put_blocks_on_cup` | 100 | 2 | Lift each cup off a block and stack the block on top of the cup. | |
| | `put_blocks_down` | 100 | 2 | Take the blocks off the cups and place them on the table. | |
| | `hide_block_with_cup` | 120 | **3** | Cover the block with the upside-down cup. *(eps 1-66 light, 67-120 dark)* | |
|
|
| Each task folder includes a `task_instruction.json` with the full task spec |
| (objects, pick/place strategies, gripper modes, workspace bounds). |
|
|
| **`hide_block_with_cup` specifics**: single-task variant (1 cup + 1 block). |
| Recording captures only the cup-pick + cup-place motion; the |
| inter-episode object randomization is **not** recorded. A 3rd camera |
| (`camera3`, oppo-countertop) was added for this task. Per-episode `meta.json` |
| includes a `lighting` field (`"light"` or `"dark"`) — the room lighting |
| changed at episode 67. |
| |
| ## Layout |
| |
| ``` |
| <task>/ |
| 1.hdf5 ... 100.hdf5 # per-episode trajectories (images + state) |
| meta/ |
| 1/meta.json ... 100/meta.json # per-episode ground truth |
| task_instruction.json # task spec |
| ``` |
| |
| ## HDF5 schema (per episode) |
| |
| ``` |
| /timestamps (T,) float64 |
| /observations/ |
| images/ |
| camera1 (T,H,W,3) uint8 # base, 640x480 RGB |
| camera2 (T,H,W,3) uint8 # wrist, 640x480 RGB |
| camera3 (T,H,W,3) uint8 # (hide_block_with_cup only) oppo-countertop |
| qpos (T,7) float32 # 6 joints + gripper (norm) |
| state (T,14) float32 # tcp_pos(3)+tcp_quat(4)+joints(6)+gripper(1) |
| tcp_pos, tcp_quat, joints, gripper_pos |
| ``` |
| |
| The HDF5 root attribute `num_cameras` reports the actual count for that file |
| (2 for all 7 original tasks, 3 for `hide_block_with_cup`). |
| |
| ## meta.json schema (per episode) |
| |
| For all tasks the meta contains the per-episode ground-truth object positions: |
| |
| ```json |
| { |
| "task": "<task name>", |
| "episode": <int>, |
| "start": {<objects>: <(x,y)>, ...}, |
| "end": {<objects>: <(x,y)>, ...}, |
| "init_pose": [x, y, z] |
| } |
| ``` |
| |
| Task-specific keys are additionally recorded (e.g. `perm` and `cup_order` for |
| the cup tasks, `sign` and `active`/`passive` for the bowl hide task, |
| `block_order` for the bowl/cup remove tasks). |
| |
| ## Robot setup |
| |
| - **Robot**: UR5e via RTDE |
| - **Gripper**: Robotiq 2F-140 (auto-calibrated) |
| - **TCP orientation**: pointing straight down (axis-angle `[π, 0, 0]`) |
| - **Cameras**: 2× Intel RealSense, 640×480 @ 20 Hz |
| - **Workspace**: trapezoid with `y ∈ [0.50, 0.80]` and `x` half-width |
| `0.10 → 0.18` (linearly with y) |
| |
| ## Per-task episode counts |
| |
| | Task | Episodes | Frames (~) | Wall-clock (~) | |
| |---|---|---|---| |
| | put_blocks_in_plate | 100 | 45,576 | 38 min | |
| | remove_blocks_from_plate | 100 | 45,929 | 38 min | |
| | hide_blocks_with_bowl | 100 | 43,881 | 37 min | |
| | remove_blocks_under_bowl | 100 | 66,090 | 55 min | |
| | hide_blocks_with_cup | 100 | (~varies) | ~40 min | |
| | put_blocks_on_cup | 100 | (~varies) | ~50 min | |
| | put_blocks_down | 100 | (~varies) | ~30 min | |
| |
| ## License |
| |
| Apache 2.0. |
| |
