README.md

metadata

license: mit
task_categories:
  - robotics
tags:
  - LeRobot
  - teleoperation
  - dual-arm
configs:
  - config_name: default
    data_files: data/*/*.parquet

nero_bag_box — dual-arm bag/box manipulation (LeRobot v2.0)

Teleoperated demonstrations on the AgileX NERO dual-arm rig (two 7-DoF S-R-S arms), collected with a Pico 4 WebXR teleop rig and cut into single-task clips. Ready for π0.5 / openpi-style fine-tuning.

Tasks

• Put the bag into the box
• Pour the bag out of the box

Features

key	shape	notes
observation.state	float32[16]	left joint1–7 (rad), left gripper (0–1, measured), right joint1–7, right gripper
action	float32[16]	the commanded teleop targets for the same tick (IK joint targets + gripper command), same layout
observation.images.base	640×480 h264 @ 15 fps	scene camera
observation.images.wrist_left	640×480 h264 @ 15 fps	left wrist
observation.images.wrist_right	640×480 h264 @ 15 fps	right wrist
observation.images.depth_wrist_left	640×480 HEVC gray12le @ 15 fps	aligned left-wrist metric depth
observation.images.depth_wrist_right	640×480 HEVC gray12le @ 15 fps	aligned right-wrist metric depth

15 fps; every frame is one fresh camera observation with the joint state sampled at the same tick. Actions are the next measured robot state. Wrist depth is stored as LeRobot depth-video features next to the corresponding RGB videos with identical episode and frame indices. Raw uint16 depth is converted to metres using each episode's RealSense scale, logarithmically quantized to 12 bits over 0–3 m, and encoded losslessly as HEVC gray12le; its quantizer parameters are recorded in meta/info.json for dequantization on load. A raw zero remains zero and represents invalid/no-return depth. The fixed base camera runs a stereo-IR profile and therefore has no depth stream.

Collected & converted 2026-08-08.