README.md

---
license: other
license_name: robox-commercial-nonexclusive-v1
task_categories:
- robotics
tags:
- LeRobot
- robox
- ego-hand
- manipulation
configs:
- config_name: default
  data_files: data/*/*.parquet
---

# robox/ego-task-1782739745

Egocentric hand-manipulation dataset in **LeRobot v3.0** format, produced by the Robox export pipeline from real on-device hand-tracking recordings. It is structured for direct use with [LeRobot](https://github.com/huggingface/lerobot) (ACT / Diffusion / pi0-style policies).

## Dataset Summary

- **Episodes:** 28
- **Frames:** 7730
- **Tasks:** 15
- **FPS:** 30
- **Robot type:** `robox_ego_hand`
- **Codebase version:** v3.0
- **State / action dim:** 15

**State / action components:**

`wrist_x`, `wrist_y`, `wrist_z`, `wrist_qx`, `wrist_qy`, `wrist_qz`, `wrist_qw`, `finger_curl_thumb`, `finger_curl_index`, `finger_curl_middle`, `finger_curl_ring`, `finger_curl_pinky`, `pinch_thumb_index`, `pinch_thumb_middle`, `pinch_thumb_ring`

## Features

| Key | dtype | shape |
| --- | --- | --- |
| `observation.images.front` | video | [480, 640, 3] |
| `observation.state` | float32 | [15] |
| `action` | float32 | [15] |
| `timestamp` | float32 | [1] |
| `frame_index` | int64 | [1] |
| `episode_index` | int64 | [1] |
| `index` | int64 | [1] |
| `task_index` | int64 | [1] |

## Structure

```
meta/info.json          # schema, fps, feature spec (canonical)
meta/tasks.parquet      # task_index -> natural-language task
meta/episodes/*.parquet # per-episode index, length, video timestamps
meta/stats.json         # per-feature statistics
meta/robox_export.json  # licence + provenance (Robox sidecar)
meta/robox_validation.json  # structural validation report
data/chunk-000/*.parquet    # per-frame state / action / timestamp
videos/observation.images.front/chunk-000/*.mp4  # RGB, one shard per chunk
```
Episodes are packed into shared chunk shards (one `.mp4` and one `.parquet` per chunk); per-episode boundaries are addressed by the row ranges and video timestamps in `meta/episodes`.

<details>
<summary><b>meta/info.json</b> (full canonical schema)</summary>

```json
{
    "codebase_version": "v3.0",
    "robot_type": "robox_ego_hand",
    "total_episodes": 28,
    "total_frames": 7730,
    "total_tasks": 15,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:28"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "observation.images.front": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                15
            ],
            "names": [
                "wrist_x",
                "wrist_y",
                "wrist_z",
                "wrist_qx",
                "wrist_qy",
                "wrist_qz",
                "wrist_qw",
                "finger_curl_thumb",
                "finger_curl_index",
                "finger_curl_middle",
                "finger_curl_ring",
                "finger_curl_pinky",
                "pinch_thumb_index",
                "pinch_thumb_middle",
                "pinch_thumb_ring"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                15
            ],
            "names": [
                "wrist_x",
                "wrist_y",
                "wrist_z",
                "wrist_qx",
                "wrist_qy",
                "wrist_qz",
                "wrist_qw",
                "finger_curl_thumb",
                "finger_curl_index",
                "finger_curl_middle",
                "finger_curl_ring",
                "finger_curl_pinky",
                "pinch_thumb_index",
                "pinch_thumb_middle",
                "pinch_thumb_ring"
            ]
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}
```
</details>

## Licence & Provenance

- **Licence:** `robox-commercial-nonexclusive-v1`
- **Commercial use:** allowed
- **Exclusivity:** non-exclusive
- **Export id:** `fd32d9f9-ae27-4b8d-9966-b9c93e89e877`
- **Source recordings:** 4

Full licensing, buyer and source-recording provenance are in [`meta/robox_export.json`](meta/robox_export.json). This dataset is distributed under its stated commercial terms — not an open-source licence — despite the Hub `license: other` tag.

## Created with

This dataset was created using [LeRobot](https://github.com/huggingface/lerobot) and the Robox LeRobot v3 export worker.