LogicDeposit/adamu_act_pickplace
Updated • 99
observation.state list | action list | language_instruction stringclasses 1
value | timestamp_ns int64 1,769,763,388B 1,769,768,181B ⌀ | is_first bool 2
classes | is_last bool 2
classes | is_terminal bool 2
classes | observation.velocity list | observation.effort list | observation.state_mode list | observation.motor_status list | observation.state_reserve list | action.mode list | action.dq list | action.tau list | action.kp list | action.kd list | action.reserve list | timestamp float32 0 22.5 ⌀ | frame_index int64 0 180 ⌀ | episode_index int64 0 70 ⌀ | index int64 0 9.15k ⌀ | task_index int64 0 0 ⌀ |
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End of preview. Expand in Data Studio
Dataset Card for AdamU Left Arm Pick & Place (HD720)
This is a robotic manipulation dataset collected using the AdamU dual-arm humanoid robot. It contains demonstrations for a left arm pick and place task and is formatted for use with the Hugging Face LeRobot framework.
Dataset Details
Dataset Description
This dataset consists of 71 episodes of a pick-and-place task performed by the AdamU robot's left arm. The dataset includes high-definition RGB video from a ZED Mini camera, along with synchronized joint states and actions. The control frequency is 8 Hz. This dataset was used to train the LogicMimic ACT Policy for the AdamU robot.
- Robot: AdamU Dual-Arm Humanoid
- Task: Left Arm Pick and Place
- Framework: LeRobot / LogicMimic
- License: MIT
Dataset Sources
- Repository: LogicMimic
Uses
Direct Use
This dataset is designed for training and evaluating imitation learning policies (such as ACT, Diffusion, PI0, etc.) for robotic manipulation tasks using the LeRobot framework.
Out-of-Scope Use
This dataset is specific to the hardware geometry and kinematics of the AdamU robot. Direct deployment of policies trained on this dataset to other robot morphologies without retargeting or fine-tuning is unlikely to succeed.
Dataset Structure
The dataset contains the following properties:
- Total Episodes: 71
- Total Frames: 9149
- Frame Rate (FPS): 8 Hz
- Camera Resolution: 640x360 (ZED Mini, RGB)
- Total Tasks: 1
Features
Observation Space
observation.images.zedm:[3, 360, 640](RGB Video)- Sourced from a ZED Mini camera.
observation.state:[8](Float32 Joint Positions)dof_pos/shoulderPitch_Leftdof_pos/shoulderRoll_Leftdof_pos/shoulderYaw_Leftdof_pos/elbow_Leftdof_pos/wristYaw_Leftdof_pos/wristPitch_Leftdof_pos/wristRoll_Leftdof_pos/hand_index_Left
- Other State Fields: Include velocities (
observation.velocity), efforts (observation.effort), and motor statuses.
Action Space
action:[8](Float32 Joint Commands)- Target joint positions matching the dimensions of the observation state.
Dataset Creation
Curation Rationale
This dataset was created to establish a baseline behavior for the AdamU robot's left arm using the LogicMimic framework, specifically to validate the data collection (MCAP recording), processing (ETL pipeline), and training workflow.
Source Data
Data Collection and Processing
Data was initially recorded as ROS 2 mcap bags on the robot's onboard Jetson Orin NX. The bags captured topics including /lowstate, /handstate, /lowcmd, /handcmd, and compressed image streams. The LogicMimic ETL pipeline then extracted the relevant 8 degrees of freedom for the left arm and hand index finger, synchronized the data at 8 Hz, and converted it into the LeRobot Parquet/MP4 format.
Who are the source data producers?
The data was collected by teleoperating the AdamU robot in a laboratory environment.
Visualizing the Data
If you have the LogicMimic framework installed, you can visualize this dataset using Rerun:
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Models trained or fine-tuned on LogicDeposit/adamu_pickplace