mrfood_data_standardised

ISR-standardized bimanual teleop dataset. Source PranayTest/bimanual-handover-2026-08-26 (agilex_piper_bimanual, 2 arms, task right_pick_handover_left_place) run through ISR — Information-Standardized Trajectory Resampling (Yang et al., IROS 2026, arXiv:2606.22907) to remove teleop pacing noise (operator pauses / variable speed) while preserving reach + contact dynamics.

Metadata

field	value
episodes	86
fps	20
total frames (standardized)	138,120
total duration (standardized)	6,906.0 s (115.1 min)
source frames	182,448
frames kept	75.7%
cameras	top, left-arm, right-arm (480x640 @ 20fps)
state / action	14-dim (R j1-6, L j1-6, R grip, L grip)

ISR knobs

• d_target = 0.5 (info-gap target; joints in degrees, rescaled from paper EE default)
• lambda_acc = 0.01 (acceleration weight — preserves decel-before-contact)
• lambda_dist = 1.0, gripper_threshold = 0.05 (force-keep on EITHER arm's grasp)

Format

LeRobot v3.0-style, packaged in mrfood_data_standardised.tar.gz:

mrfood_std/
  data/chunk-000/file-000.parquet          # kept rows: observation.state, action, timestamp, frame_index, episode_index, index, task_index
  videos/observation.images.{top,left-arm,right-arm}/chunk-000/file-000.mp4   # re-encoded to kept frames
  meta/info.json  meta/episodes/...  meta/tasks.parquet  METADATA.json

Timestamps are re-based uniform (1/fps) — motion-standardized playback; ISR removed the pause frames, so wall-clock is shorter than the raw recording. See meta/info.json -> isr_standardization.