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  1. README.md +142 -0
  2. data/chunk-000/episode_000012.parquet +3 -0
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  45. meta/episode_ids.json +502 -0
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  48. meta/info.json +164 -0
  49. meta/stats.json +140 -0
  50. meta/tasks.jsonl +1 -0
README.md ADDED
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+ ---
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+ license: apache-2.0
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+ task_categories:
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+ - robotics
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+ tags:
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+ - LeRobot
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+ - yam
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+ - manipulation
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+ - bimanual
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+ - imitation-learning
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+ configs:
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+ - config_name: default
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+ data_files: data/**/*.parquet
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+ ---
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+
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+ # abc_sort_legos_v21
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+
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+ Teleoperation dataset: **sort the legos into containers by color**
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+
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+ A **LeRobot v2.1** conversion of the `sort_the_legos_into_containers_by_color`
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+ task from [XDOF/ABC-130k](https://huggingface.co/datasets/XDOF/ABC-130k),
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+ prepared for fine-tuning [pi0.5](https://github.com/Physical-Intelligence/openpi)
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+ (`pi05_base`) on the bimanual YAM platform.
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+
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+ ## Dataset summary
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+
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+ | Field | Value |
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+ |-------|-------|
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+ | Robot | yam |
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+ | Episodes | 500 (first 500 of 4,458 train episodes, sorted by episode uuid) |
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+ | Total frames | 1,156,733 |
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+ | FPS | 30 Hz |
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+ | Task | sort the legos into containers by color |
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+ | Format | LeRobot v2.1 |
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+
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+ ## Is this 30 fps?
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+
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+ Yes — `meta/info.json` reports `fps: 30`, and every camera stream is encoded
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+ at `video.fps: 30`. But note this is a **resampled** 30 fps, not a native
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+ recording rate: in the source ABC-130k MCAP files, the action stream runs at
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+ ~200 Hz, state at ~265 Hz, and cameras at 30–60 Hz depending on station type
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+ (each stream on its own independent clock). The conversion builds a fixed
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+ 30 Hz tick clock over the overlap window of all streams and does **causal
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+ floor matching** (the latest message at or before each tick) to align
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+ everything onto one common 30 Hz grid — actions are subsampled ~6.7:1, faster
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+ cameras are decimated, and no stream runs below 30 Hz so frames are never
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+ duplicated.
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+
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+ ## Cameras
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+
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+ | Name |
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+ |------|
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+ | `head_camera` |
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+ | `left_wrist_camera` |
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+ | `right_wrist_camera` |
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+
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+ Video codec: h264, 640×480 (letterboxed, aspect-ratio preserved). Source
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+ episodes come from two station types — RealSense (mono top camera) and ZED-X
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+ (stereo top camera, one eye picked deterministically per episode) — both
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+ handled by the same conversion.
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+
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+ ## State space (`observation.state`, shape `[14]`)
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+
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+ | Index | Name |
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+ |-------|------|
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+ | 0 | `left_joint_0` |
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+ | 1 | `left_joint_1` |
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+ | 2 | `left_joint_2` |
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+ | 3 | `left_joint_3` |
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+ | 4 | `left_joint_4` |
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+ | 5 | `left_joint_5` |
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+ | 6 | `left_gripper` |
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+ | 7 | `right_joint_0` |
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+ | 8 | `right_joint_1` |
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+ | 9 | `right_joint_2` |
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+ | 10 | `right_joint_3` |
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+ | 11 | `right_joint_4` |
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+ | 12 | `right_joint_5` |
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+ | 13 | `right_gripper` |
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+
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+ ## Action space (`action`, shape `[14]`)
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+
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+ | Index | Name |
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+ |-------|------|
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+ | 0 | `left_joint_0` |
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+ | 1 | `left_joint_1` |
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+ | 2 | `left_joint_2` |
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+ | 3 | `left_joint_3` |
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+ | 4 | `left_joint_4` |
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+ | 5 | `left_joint_5` |
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+ | 6 | `left_gripper` |
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+ | 7 | `right_joint_0` |
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+ | 8 | `right_joint_1` |
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+ | 9 | `right_joint_2` |
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+ | 10 | `right_joint_3` |
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+ | 11 | `right_joint_4` |
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+ | 12 | `right_joint_5` |
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+ | 13 | `right_gripper` |
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+
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+ State and action are 1:1 index-aligned. Joint values are absolute positions
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+ in **radians**, base → wrist. Gripper is the normalized aperture from
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+ ABC-130k (**0 = closed, 1 = open**). `action` holds the **commanded** joint
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+ positions (source `/{side}-arm-action` + `/{side}-ee-action` topics);
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+ `observation.state` holds the **measured** ones (`/{side}-arm-state` +
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+ `/{side}-ee-state`). Both are absolute, not delta — pi0.5 applies
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+ `DeltaActions` internally at train time.
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+
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+ ## How this was converted
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+
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+ Source episodes are MCAP files (`episode.mcap` per episode). Conversion
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+ script:
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+ [`convert_abc_mcap_to_lerobot_v21.py`](https://github.com/Avant-US/openpi) —
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+ `scripts/convert_abc_mcap_to_lerobot_v21.py`. See "Is this 30 fps?" above for
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+ the resampling method.
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+
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+ `meta/episode_ids.json` maps each `episode_index` back to its original
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+ ABC-130k episode uuid for traceability.
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+
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+ ## Usage
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+
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+ ```python
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+ from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
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+
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+ ds = LeRobotDataset("Sichang0621/abc_sort_legos_v21")
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+ print(ds.num_episodes, ds.num_frames, ds[0]["observation.state"].shape)
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+ ```
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+
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+ ## Attribution and license
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+
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+ This dataset is **derived from
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+ [XDOF/ABC-130k](https://huggingface.co/datasets/XDOF/ABC-130k)** (Apache-2.0),
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+ released alongside the ABC project ([abc.bot](https://abc.bot/),
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+ [code](https://github.com/amazon-far/abc)). All robot trajectories and
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+ imagery originate from ABC-130k; this repository contributes only the format
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+ conversion described above. Please cite the ABC project when using this data.
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+
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+ Note that the upstream ABC-130k dataset is access-gated on the Hub. Licensed
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+ under Apache-2.0, consistent with the source.
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+
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+ ## License
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+
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+ Apache 2.0
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meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "sort the legos into containers by color"}