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Datasets:
adhdmi
/
mug

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
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pandas
Polars
License:
Dataset card Data Studio Files
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  1. README.md +112 -0
  2. data/chunk-000/file-000.parquet +3 -0
  3. kapex_converted_sources.json +104 -0
  4. meta/episodes/chunk-000/file-000.parquet +3 -0
  5. meta/info.json +279 -0
  6. meta/stats.json +1902 -0
  7. meta/tasks.parquet +3 -0
  8. videos/observation.images.cam_left/chunk-000/file-000.mp4 +3 -0
  9. videos/observation.images.cam_left/chunk-000/file-001.mp4 +3 -0
  10. videos/observation.images.cam_right/chunk-000/file-000.mp4 +3 -0
  11. videos/observation.images.cam_right/chunk-000/file-001.mp4 +3 -0
  12. videos/observation.images.cam_wrist_left/chunk-000/file-000.mp4 +3 -0
  13. videos/observation.images.cam_wrist_right/chunk-000/file-000.mp4 +3 -0
README.md ADDED
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+ ---
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+ license: apache-2.0
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+ pretty_name: KAPEX teleop · mug
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+ language:
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+ - en
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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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+ - imitation-learning
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+ - manipulation
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+ - humanoid
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+ - kapex
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+ - teleoperation
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+ size_categories:
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+ - 10K<n<100K
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+ ---
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+ # KAPEX teleop · mug
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+
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+ A [LeRobot](https://github.com/huggingface/lerobot)-format dataset captured
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+ through KAPEX humanoid teleoperation (Manus gloves + Vive trackers, plus
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+ optional VR head cameras).
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+
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+ - **Repo id:** `adhdmi/mug`
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+ - **LeRobot codebase version:** `v3.0`
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+ - **Episodes / Frames:** 100 / 16893
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+ - **Control rate:** 20 fps
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+ - **State / Action dim:** 59 / 59
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+ **Task instruction (per episode):** *Pick up the mug with the right hand and place it on top of the cube*
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+
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+
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+ ## Schema
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+
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+ | Feature | dtype | shape | rate |
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+ |---|---|---|---|
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+ | `observation.state` | float32 | (59,) | 20 fps |
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+ | `action` | float32 | (59,) | 20 fps |
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+ | `observation.images.cam_left` | video (av1) | (3, 480, 640) | 20 fps |
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+ | `observation.images.cam_right` | video (av1) | (3, 480, 640) | 20 fps |
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+ | `observation.images.cam_wrist_left` | video (av1) | (3, 480, 640) | 20 fps |
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+ | `observation.images.cam_wrist_right` | video (av1) | (3, 480, 640) | 20 fps |
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+
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+ The 59-dimensional KAPEX joint layout (when full body is recorded):
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+ `3 waist + 2 head + 7 left arm + 7 right arm + 20 left hand + 20 right hand`.
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+ `observation.state` holds the *current* joint positions; `action` holds the
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+ *target* joint positions issued that tick. A learned policy that emits a
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+ 59-d vector in this layout is plug-compatible with `BaseEnv._apply_action`
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+ in the [Kapex Benchmark](https://github.com/) repository.
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+
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+ ## Cameras
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+
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+ All camera streams are stored as videos at 20 fps, channel-first `(3, H, W)`
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+ RGB layout (decoded by LeRobot's `VideoFrame` reader at load time).
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+
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+ - `observation.images.cam_left` — head left eye (mounted on `HL2`)
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+ - `observation.images.cam_right` — head right eye (mounted on `HL2`)
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+ - `observation.images.cam_wrist_left` — left wrist camera (mounted on `LA7`)
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+ - `observation.images.cam_wrist_right` — right wrist camera (mounted on `RA7`)
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+
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+ ## Loading the dataset
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+
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+ ```python
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+ from lerobot.datasets.lerobot_dataset import LeRobotDataset
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+
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+ ds = LeRobotDataset("adhdmi/mug") # downloads on first call
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+ print(len(ds), ds.meta.fps, list(ds.meta.features))
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+
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+ sample = ds[0]
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+ print(sample["observation.state"].shape) # (59,)
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+ print(sample["action"].shape) # (59,)
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+ ```
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+
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+ ## Training
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+
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+ LeRobot 0.5.x ships training entry points as console scripts. Replace
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+ `act` with `diffusion`, `tdmpc`, `vqbet`, ... for other policy families.
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+
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+ ```bash
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+ # Action-Chunking Transformer (ACT)
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+ lerobot-train \
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+ --policy.type=act \
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+ --dataset.repo_id=adhdmi/mug \
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+ --output_dir=./outputs/act_mug
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+
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+ # Diffusion Policy
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+ lerobot-train \
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+ --policy.type=diffusion \
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+ --dataset.repo_id=adhdmi/mug \
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+ --output_dir=./outputs/diffusion_mug
90
+ ```
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+
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+ ## Visualization
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+
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+ ```bash
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+ # Interactive Rerun-based viewer
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+ lerobot-dataset-viz \
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+ --repo-id adhdmi/mug \
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+ --episode-index 0
99
+ ```
100
+
101
+ If `lerobot-dataset-viz` is not on your `$PATH`, run
102
+ `python -m lerobot.scripts.visualize_dataset --repo-id adhdmi/mug --episode-index 0`
103
+ on older releases.
104
+
105
+ ## Authoring info
106
+
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+ - Recorded with `scripts/tabletop_teleop/run_teleop.py`.
108
+ - Converted to LeRobot format with
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+ `scripts/tabletop_teleop/lerobot_pipeline/convert_record_data.py`.
110
+ - Pushed to the Hub with
111
+ `scripts/tabletop_teleop/lerobot_pipeline/export_and_upload.py`.
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+ - Maintainer: `adhdmi` (Hugging Face Hub).
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