README.md

---
license: cc-by-sa-4.0
language:
  - en
  - zh
tags:
  - robotics
  - manipulation
  - household
  - bimanual-robot
  - lerobot
---

<div align="center">
  <img src="./challenge_teaser.jpg" width="800" alt="PrimeBot Household Bimanual Manipulation Challenge">
  <h1>PrimeBot Household Bimanual Manipulation Challenge Dataset</h1>

  [中文](#中文) | [English](#english)
</div>

---

# 中文
## 目录
- [真机遥操作数据](#真机遥操作数据)
  - [训练集说明](#训练集说明)
  - [验证集说明](#验证集说明)
  - [数据集字段说明](#数据集字段说明)
    - [图像](#图像)
    - [语言指令](#语言指令)
    - [本体感知与动作](#本体感知与动作)
  - [机器人推理接口](#机器人推理接口)
- [UMI数据](#umi数据)
  - [数据概览](#数据概览)
  - [目录结构](#目录结构)
  - [数据集字段说明](#数据集字段说明-1)
    - [图像](#图像-1)
    - [本体感知与动作](#本体感知与动作-1)
    - [索引字段](#索引字段)
    - [标注与 IMU](#标注与-imu)


## 真机遥操作数据
真机数据由启元机器人提供，数据集均以标准的 [LeRobot V2.1](https://github.com/huggingface/lerobot) 格式构造，示例Dataset代码，
```
pip install "lerobot==0.3.3" "mmengine==0.10.7" "torch==2.7.0" "numpy==1.26.4" "torchcodec==0.5" "torchvision==0.22.0"

python dataloader/custom_lerobot_dataset.py
```

### 训练集说明
训练集覆盖超过12种真实的家庭场景双臂操作任务，所有数据均包含精确到帧的语言标注，部分任务列表如下
| 任务编号 | 任务描述  |
| :--- | :--- |
| 1 | Use the gripper to fully open the washing machine door. |
| 2 | Close the washing machine door tightly with the gripper. |
| 3 | Put these two pieces of clothing into the washer. |
| 4 | Take the clothing out of the washer and put it in the basket. |
| 5 | Pick up the laundry basket with both grippers. |
| 6 | Put the dirty clothes basket on the ground. |
| 7 | Pick up the clothing and put it on the sofa. |
| 8 | Put the clothing in the folding area. |
| 9 | Unfold the clothing and fold it neatly. |
| 10 | Place the folded clothing in the storage area. |


训练集分4个批次，互相独立不重复，可自由组合数据集训练策略，
| 数据集名称 | 采集批次  | 任务类型 | 语言标注 |
| :--- | :--- | :--- | :--- |
| full_task_batch1_train | 1 | 1-10 | 帧级切分 |
| fold_cloth_batch2_train | 2 | 8~10 | 帧级切分 |
| partial_task_batch3_train | 3 | 1,4,5 | 帧级切分 |
| partial_task_batch4_train | 4 | 1,2,3,9 | 整段标注 |

### 验证集说明
验证集与训练集格式完全一致，为防止策略过拟合到state上，有以下两点特殊处理，
- 验证集中observation.state数据含有随机噪声
- 验证集中action字段被全部置零

考虑到参赛团队算力资源与测试资源，本次挑战赛在不超过以下4个任务上进行线上和线下评测，
| Task ID | Task Description |
| :--- | :--- |
| 1 | Use the gripper to fully open the washing machine door. |
| 2 | Close the washing machine door tightly with the gripper. |
| 3 | Put these two pieces of clothing into the washer. |
| 9 | Unfold the clothing and fold it neatly. |

**线上测评**: 参赛者需提交在validation_data上预测的全部action轨迹（分数只在上述任务中计算），validation_data为
- full_task_batch1_noise_valid
- fold_cloth_batch2_noise_valid

**线下测评**，详见`机器人推理接口`

### 数据集字段说明
#### 图像
包含三视角RGB图像，分辨率为1280*720，帧率30FPS，字段定义如下
| 数据集字段 | 数据源 |
| :--- | :--- |
| observation.images.x2w_camera_head_realsense_compressed | 头部相机 |
| observation.images.x2w_camera_left_wrist_zedxonegs_rgb_raw_image_compressed | 左手相机 |
| observation.images.x2w_camera_right_wrist_zedxonegs_rgb_raw_image_compressed | 右手相机 |

#### 语言指令
数据集全部标注信息见${dataset_name}/meta/info.json。每段语言标注均为左闭右开，即[start_frame_index, end_frame_index），以一条1000帧的操作任务为例说明如下
| 分段 | 片段1 | 片段2 | 片段3 | 片段4 |
| :--- | :--- | :--- | :--- | :--- |
| 索引 | 0~99(exclude) | 99~420 | 420~910 | 910~1000 |
| 标注 | Start remote operation. | Open the washing machine door. | Close the washing machine door. | End remote operation. |

#### 本体感知与动作
包括机器人状态信息（observation.state）与动作信息（action），维度均为89维，定义如下
##### 1. 关节位置（Joint Position，索引 0-21）
| 索引 | 数据源 | 列名 | 物理意义 | 单位 |
| :--- | :--- | :--- | :--- | :--- |
| 0 | joint_state | folding_lower_joint | 折叠下关节角度 | rad |
| 1 | joint_state | folding_upper_joint | 折叠上关节角度 | rad |
| 2 | joint_state | waist_pitch_joint | 腰部俯仰关节角度 | rad |
| 3 | joint_state | torso_yaw_joint | 躯干偏航关节角度 | rad |
| 4 | joint_state | head_yaw_joint | 头部偏航关节角度 | rad |
| 5 | joint_state | head_pitch_joint | 头部俯仰关节角度 | rad |
| 6 | joint_state | left_shoulder_pitch_joint | 左肩俯仰关节角度 | rad |
| 7 | joint_state | left_shoulder_roll_joint | 左肩翻滚关节角度 | rad |
| 8 | joint_state | left_shoulder_yaw_joint | 左肩偏航关节角度 | rad |
| 9 | joint_state | left_elbow_pitch_joint | 左肘俯仰关节角度 | rad |
| 10 | joint_state | left_wrist_roll_joint | 左腕翻滚关节角度 | rad |
| 11 | joint_state | left_wrist_yaw_joint | 左腕偏航关节角度 | rad |
| 12 | joint_state | left_wrist_pitch_joint | 左腕俯仰关节角度 | rad |
| 13 | joint_state | right_shoulder_pitch_joint | 右肩俯仰关节角度 | rad |
| 14 | joint_state | right_shoulder_roll_joint | 右肩翻滚关节角度 | rad |
| 15 | joint_state | right_shoulder_yaw_joint | 右肩偏航关节角度 | rad |
| 16 | joint_state | right_elbow_pitch_joint | 右肘俯仰关节角度 | rad |
| 17 | joint_state | right_wrist_roll_joint | 右腕翻滚关节角度 | rad |
| 18 | joint_state | right_wrist_yaw_joint | 右腕偏航关节角度 | rad |
| 19 | joint_state | right_wrist_pitch_joint | 右腕俯仰关节角度 | rad |
| 20 | joint_state | left_finger_l_joint | 左手指关节角度 | rad |
| 21 | joint_state | right_finger_l_joint | 右手指关节角度 | rad |

##### 2. 关节速度（Joint Velocity，索引 22-43）
| 索引 | 数据源 | 列名 | 物理意义 | 单位 |
| :--- | :--- | :--- | :--- | :--- |
| 22 | joint_state | folding_lower_joint_velocity | 折叠下关节角速度 | rad/s |
| 23 | joint_state | folding_upper_joint_velocity | 折叠上关节角速度 | rad/s |
| 24 | joint_state | waist_pitch_joint_velocity | 腰部俯仰关节角速度 | rad/s |
| 25 | joint_state | torso_yaw_joint_velocity | 躯干偏航关节角速度 | rad/s |
| 26 | joint_state | head_yaw_joint_velocity | 头部偏航关节角速度 | rad/s |
| 27 | joint_state | head_pitch_joint_velocity | 头部俯仰关节角速度 | rad/s |
| 28 | joint_state | left_shoulder_pitch_joint_velocity | 左肩俯仰关节角速度 | rad/s |
| 29 | joint_state | left_shoulder_roll_joint_velocity | 左肩翻滚关节角速度 | rad/s |
| 30 | joint_state | left_shoulder_yaw_joint_velocity | 左肩偏航关节角速度 | rad/s |
| 31 | joint_state | left_elbow_pitch_joint_velocity | 左肘俯仰关节角速度 | rad/s |
| 32 | joint_state | left_wrist_roll_joint_velocity | 左腕翻滚关节角速度 | rad/s |
| 33 | joint_state | left_wrist_yaw_joint_velocity | 左腕偏航关节角速度 | rad/s |
| 34 | joint_state | left_wrist_pitch_joint_velocity | 左腕俯仰关节角速度 | rad/s |
| 35 | joint_state | right_shoulder_pitch_joint_velocity | 右肩俯仰关节角速度 | rad/s |
| 36 | joint_state | right_shoulder_roll_joint_velocity | 右肩翻滚关节角速度 | rad/s |
| 37 | joint_state | right_shoulder_yaw_joint_velocity | 右肩偏航关节角速度 | rad/s |
| 38 | joint_state | right_elbow_pitch_joint_velocity | 右肘俯仰关节角速度 | rad/s |
| 39 | joint_state | right_wrist_roll_joint_velocity | 右腕翻滚关节角速度 | rad/s |
| 40 | joint_state | right_wrist_yaw_joint_velocity | 右腕偏航关节角速度 | rad/s |
| 41 | joint_state | right_wrist_pitch_joint_velocity | 右腕俯仰关节角速度 | rad/s |
| 42 | joint_state | left_finger_l_joint_velocity | 左手指关节角速度 | rad/s |
| 43 | joint_state | right_finger_l_joint_velocity | 右手指关节角速度 | rad/s |

##### 3. 关节力矩（Joint Effort，索引 44-65）
| 索引 | 数据源 | 列名 | 物理意义 | 单位 |
| :--- | :--- | :--- | :--- | :--- |
| 44 | joint_state | folding_lower_joint_effort | 折叠下关节输出力矩 | N·m |
| 45 | joint_state | folding_upper_joint_effort | 折叠上关节输出力矩 | N·m |
| 46 | joint_state | waist_pitch_joint_effort | 腰部俯仰关节输出力矩 | N·m |
| 47 | joint_state | torso_yaw_joint_effort | 躯干偏航关节输出力矩 | N·m |
| 48 | joint_state | head_yaw_joint_effort | 头部偏航关节输出力矩 | N·m |
| 49 | joint_state | head_pitch_joint_effort | 头部俯仰关节输出力矩 | N·m |
| 50 | joint_state | left_shoulder_pitch_joint_effort | 左肩俯仰关节输出力矩 | N·m |
| 51 | joint_state | left_shoulder_roll_joint_effort | 左肩翻滚关节输出力矩 | N·m |
| 52 | joint_state | left_shoulder_yaw_joint_effort | 左肩偏航关节输出力矩 | N·m |
| 53 | joint_state | left_elbow_pitch_joint_effort | 左肘俯仰关节输出力矩 | N·m |
| 54 | joint_state | left_wrist_roll_joint_effort | 左腕翻滚关节输出力矩 | N·m |
| 55 | joint_state | left_wrist_yaw_joint_effort | 左腕偏航关节输出力矩 | N·m |
| 56 | joint_state | left_wrist_pitch_joint_effort | 左腕俯仰关节输出力矩 | N·m |
| 57 | joint_state | right_shoulder_pitch_joint_effort | 右肩俯仰关节输出力矩 | N·m |
| 58 | joint_state | right_shoulder_roll_joint_effort | 右肩翻滚关节输出力矩 | N·m |
| 59 | joint_state | right_shoulder_yaw_joint_effort | 右肩偏航关节输出力矩 | N·m |
| 60 | joint_state | right_elbow_pitch_joint_effort | 右肘俯仰关节输出力矩 | N·m |
| 61 | joint_state | right_wrist_roll_joint_effort | 右腕翻滚关节输出力矩 | N·m |
| 62 | joint_state | right_wrist_yaw_joint_effort | 右腕偏航关节输出力矩 | N·m |
| 63 | joint_state | right_wrist_pitch_joint_effort | 右腕俯仰关节输出力矩 | N·m |
| 64 | joint_state | left_finger_l_joint_effort | 左手指关节输出力矩 | N·m |
| 65 | joint_state | right_finger_l_joint_effort | 右手指关节输出力矩 | N·m |

##### 4. 末端执行器位姿（Gripper Pose，索引 66-79）
| 索引 | 数据源 | 列名 | 物理意义 | 单位 |
| :--- | :--- | :--- | :--- | :--- |
| 66 | gripper_pose | left_gripper_x | 左末端执行器 X 位置 | m |
| 67 | gripper_pose | left_gripper_y | 左末端执行器 Y 位置 | m |
| 68 | gripper_pose | left_gripper_z | 左末端执行器 Z 位置 | m |
| 69 | gripper_pose | left_gripper_qx | 左末端执行器四元数 X 分量 | - |
| 70 | gripper_pose | left_gripper_qy | 左末端执行器四元数 Y 分量 | - |
| 71 | gripper_pose | left_gripper_qz | 左末端执行器四元数 Z 分量 | - |
| 72 | gripper_pose | left_gripper_qw | 左末端执行器四元数 W 分量 | - |
| 73 | gripper_pose | right_gripper_x | 右末端执行器 X 位置 | m |
| 74 | gripper_pose | right_gripper_y | 右末端执行器 Y 位置 | m |
| 75 | gripper_pose | right_gripper_z | 右末端执行器 Z 位置 | m |
| 76 | gripper_pose | right_gripper_qx | 右末端执行器四元数 X 分量 | - |
| 77 | gripper_pose | right_gripper_qy | 右末端执行器四元数 Y 分量 | - |
| 78 | gripper_pose | right_gripper_qz | 右末端执行器四元数 Z 分量 | - |
| 79 | gripper_pose | right_gripper_qw | 右末端执行器四元数 W 分量 | - |

##### 5. 轮子关节状态（Wheel Joint State，索引 80-88）
| 索引 | 数据源 | 列名 | 物理意义 | 单位 |
| :--- | :--- | :--- | :--- | :--- |
| 80 | wheel_joint_state | wheel_front_left_position | 前左轮角度位置 | rad |
| 81 | wheel_joint_state | wheel_front_right_position | 前右轮角度位置 | rad |
| 82 | wheel_joint_state | wheel_rear_position | 后轮角度位置 | rad |
| 83 | wheel_joint_state | wheel_front_left_velocity | 前左轮角速度 | rad/s |
| 84 | wheel_joint_state | wheel_front_right_velocity | 前右轮角速度 | rad/s |
| 85 | wheel_joint_state | wheel_rear_velocity | 后轮角速度 | rad/s |
| 86 | wheel_joint_state | wheel_front_left_effort | 前左轮输出力矩 | N·m |
| 87 | wheel_joint_state | wheel_front_right_effort | 前右轮输出力矩 | N·m |
| 88 | wheel_joint_state | wheel_rear_effort | 后轮输出力矩 | N·m |

### 机器人推理接口
我们提供了包含机器人运行环境的基础Docker镜像，参赛者需要实现自己模型的两个函数
```
def load_model(self):
    # TODO: implement model loading
    pass

def predict(self, sample: dict) -> np.ndarray:
    # TODO: implement inference, return np.ndarray of shape (N, 25)
    pass

def inference_loop(self):
    last_iner_time = time.time()
    while self.running:
        if self.prepare_in_progress or not self.enable_inference:
            time.sleep(0.1)
            continue

        tic = time.time()
        sample = self.update_input()
        prediction = self.predict(sample)
```
数据集中虽然记录了完整的action字段，但在推理中我们只选择机器人关节位置（25维）作为控制指令，完整字段定义如下

| 索引 | 列名 | 物理意义 | 单位 |
| :--- | :--- | :--- | :--- |
| 0 | folding_lower_joint | 折叠下关节角度 | rad |
| 1 | folding_upper_joint | 折叠上关节角度 | rad |
| 2 | waist_pitch_joint | 腰部俯仰关节角度 | rad |
| 3 | torso_yaw_joint | 躯干偏航关节角度 | rad |
| 4 | head_yaw_joint | 头部偏航关节角度 | rad |
| 5 | head_pitch_joint | 头部俯仰关节角度 | rad |
| 6 | left_shoulder_pitch_joint | 左肩俯仰关节角度 | rad |
| 7 | left_shoulder_roll_joint | 左肩翻滚关节角度 | rad |
| 8 | left_shoulder_yaw_joint | 左肩偏航关节角度 | rad |
| 9 | left_elbow_pitch_joint | 左肘俯仰关节角度 | rad |
| 10 | left_wrist_roll_joint | 左腕翻滚关节角度 | rad |
| 11 | left_wrist_yaw_joint | 左腕偏航关节角度 | rad |
| 12 | left_wrist_pitch_joint | 左腕俯仰关节角度 | rad |
| 13 | right_shoulder_pitch_joint | 右肩俯仰关节角度 | rad |
| 14 | right_shoulder_roll_joint | 右肩翻滚关节角度 | rad |
| 15 | right_shoulder_yaw_joint | 右肩偏航关节角度 | rad |
| 16 | right_elbow_pitch_joint | 右肘俯仰关节角度 | rad |
| 17 | right_wrist_roll_joint | 右腕翻滚关节角度 | rad |
| 18 | right_wrist_yaw_joint | 右腕偏航关节角度 | rad |
| 19 | right_wrist_pitch_joint | 右腕俯仰关节角度 | rad |
| 20 | left_finger_l_joint | 左手指关节角度 | rad |
| 21 | right_finger_l_joint | 右手指关节角度 | rad |
| 22 | wheel_front_left_velocity | 前左轮角速度 | rad/s |
| 23 | wheel_front_right_velocity | 前右轮角速度 | rad/s |
| 24 | wheel_rear_velocity | 后轮角速度 | rad/s |


## UMI数据
UMI数据由[上海朗智格机器人科技有限公司](http://crobotia.com/)提供，构造为标准的 **LeRobot v2.1** 数据集，包含 5 个双手操作 episode，以及左、右手腕载 ego 相机数据。

```bash
pip install "lerobot==0.3.3"
```

已在 Python 3.11、LeRobot 0.3.3、PyTorch 2.7.1、TorchVision 0.22.1 和 `pyav` 视频后端下完成加载与抽帧验证。

```python
from lerobot.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset(
    repo_id="local/umi_sample_data_v21",
    root="/path/to/umi_sample_data_v21",
)
```

### 数据概览

| Episode | `task_index` | 任务 | 帧数 | 时长 |
| :--- | ---: | :--- | ---: | ---: |
| `episode_000000` | 0 | fold the red shirt | 1410 | 47 s |
| `episode_000001` | 1 | fold the black shirt | 1050 | 35 s |
| `episode_000002` | 2 | fold the yellow shirt | 870 | 29 s |
| `episode_000003` | 1 | fold the black shirt | 1050 | 35 s |
| `episode_000004` | 3 | fold the brown shirt | 1560 | 52 s |

数据集共 5940 帧、4 个唯一任务，帧率为 30 FPS，ego 视频分辨率为 960 × 960。

### 目录结构

```text
umi_sample_data_v21/
├── data/chunk-000/                       # 5 个 episode Parquet 文件
├── videos/chunk-000/
│   ├── observation.images.left_ego/      # 左手 ego 视频
│   └── observation.images.right_ego/     # 右手 ego 视频
├── meta/
│   ├── info.json                         # 数据集与字段定义
│   ├── tasks.jsonl                       # 任务与 task_index 映射
│   ├── episodes.jsonl                    # episode 长度与任务
│   ├── episodes_stats.jsonl              # 每个 episode 的统计量
│   └── calibration.json                  # 相机与 IMU 标定参数
├── annotation/                           # episode 级任务和动作分段标注
└── imu/                                  # 左右手 IMU 数据
```

### 数据集字段说明

#### 图像

| 数据集字段 | 数据源 |
| :--- | :--- |
| `observation.images.left_ego` | 左手腕载 RGB ego 相机，960 × 960 |
| `observation.images.right_ego` | 右手腕载 RGB ego 相机，960 × 960 |

#### 本体感知与动作

`observation.state` 和 `action` 均为 16 维，字段顺序一致：

| 索引 | 字段顺序 | 物理意义 | 单位 |
| :--- | :--- | :--- | :--- |
| 0–2 | `left_x, left_y, left_z` | 左手末端位置 | m |
| 3–6 | `left_qw, left_qx, left_qy, left_qz` | 左手末端四元数 `(w, x, y, z)` | - |
| 7 | `left_gripper` | 左夹爪开合角度 | ° |
| 8–10 | `right_x, right_y, right_z` | 右手末端位置 | m |
| 11–14 | `right_qw, right_qx, right_qy, right_qz` | 右手末端四元数 `(w, x, y, z)` | - |
| 15 | `right_gripper` | 右夹爪开合角度 | ° |

`observation.state` 表示当前帧状态。除末帧外，`action[t] = state[t+1]`；末帧 action 保留原始采集序列的下一时刻目标，因此不一定等于本 episode 的末帧 state。左右手位姿使用独立坐标系，不能直接计算双手之间的相对距离或姿态。

#### 索引字段

| 字段 | 类型 | 说明 |
| :--- | :--- | :--- |
| `timestamp` | float32 | episode 内时间，单位为秒 |
| `frame_index` | int64 | episode 内帧编号，从 0 开始 |
| `episode_index` | int64 | episode 编号，范围为 0–4 |
| `index` | int64 | 数据集全局帧编号，范围为 0–5939 |
| `task_index` | int64 | 任务编号，对应 `meta/tasks.jsonl` |

#### 标注与 IMU

| 文件 | 说明 |
| :--- | :--- |
| `annotation/episode_subtasks_*.jsonl` | episode 级任务、目标物体与成功状态 |
| `annotation/action_steps_*.jsonl` | 细粒度动作分段 |
| `imu/episode_*_{left,right}.csv` | 左右手时间戳、三轴角速度和三轴加速度 |

标注区间采用 `[start_frame_index, end_frame_index)`，即包含起始帧、不包含结束帧。

---

# English
## Contents
- [Real-World Teleoperation Data](#real-world-teleoperation-data)
  - [Training Set Description](#training-set-description)
  - [Validation Set Description](#validation-set-description)
  - [Dataset Field Description](#dataset-field-description)
    - [Camera Images](#camera-images)
    - [Language Instructions](#language-instructions)
    - [Proprioceptive and Actions](#proprioceptive-and-actions)
  - [Robot Inference Interface](#robot-inference-interface)
- [UMI Data](#umi-data)
  - [Dataset Overview](#dataset-overview)
  - [Directory Structure](#directory-structure)
  - [Dataset Fields](#dataset-fields)
    - [Camera Images](#camera-images-1)
    - [Proprioception and Actions](#proprioception-and-actions)
    - [Index Fields](#index-fields)
    - [Annotations and IMU](#annotations-and-imu)

## Real-World Teleoperation Data
Teleoperation data is sponsored by PrimeBot. The dataset is constructed in the standard [LeRobot V2.1](https://github.com/huggingface/lerobot) format. Example code for loading the dataset:
```bash
pip install "lerobot==0.3.3" "mmengine==0.10.7" "torch==2.7.0" "numpy==1.26.4" "torchcodec==0.5" "torchvision==0.22.0"

python dataloader/custom_lerobot_dataset.py
```

### Training Set Description
The training set covers more than 12 real-world dual-arm manipulation tasks in household scenarios. All data includes frame-accurate language annotations. Partial task list:

| Task ID | Task Description |
| :--- | :--- |
| 1 | Use the gripper to fully open the washing machine door. |
| 2 | Close the washing machine door tightly with the gripper. |
| 3 | Put these two pieces of clothing into the washer. |
| 4 | Take the clothing out of the washer and put it in the basket. |
| 5 | Pick up the laundry basket with both grippers. |
| 6 | Put the dirty clothes basket on the ground. |
| 7 | Pick up the clothing and put it on the sofa. |
| 8 | Put the clothing in the folding area. |
| 9 | Unfold the clothing and fold it neatly. |
| 10 | Place the folded clothing in the storage area. |

The training set consists of four independent, non-overlapping subsets. You can freely combine them for different training strategies.
| Dataset Name | Collection Batch | Task Type | Instruction |
| :--- | :--- | :--- | :--- |
| full_task_batch1_train | 1 | 1-10 | frame-level |
| fold_cloth_batch2_train | 2 | 8~10 | frame-level |
| partial_task_batch3_train | 3 | 1,4,5 | frame-level |
| partial_task_batch4_train | 4 | 1,2,3,9 | segments-level |

During the online assessment, participants must submit all predicted action trajectories on the validation_data dataset (scores are only calculated for the tasks mentioned above). The assessment dataset is:
- full_task_batch1_noise_valid
- fold_cloth_batch2_noise_valid

### Validation Set Description
The validation set follows exactly the same format as the training set. To prevent policies from overfitting to state data, two special adjustments are applied:
- The `observation.state` data in the validation set contains random noise.
- All `action` fields in the validation set are set to zero.

Considering the computing resources of participating teams, the evaluation of this challenge will be conducted on no more than the follow 4 tasks:
| Task ID | Task Description |
| :--- | :--- |
| 1 | Use the gripper to fully open the washing machine door. |
| 2 | Close the washing machine door tightly with the gripper. |
| 3 | Put these two pieces of clothing into the washer. |
| 9 | Unfold the clothing and fold it neatly. |

**Online evaluation**: During the online assessment, participants must submit all predicted action trajectories on the validation_data dataset (scores are only calculated for the tasks mentioned above). The used assessment dataset is:
- full_task_batch1_noise_valid
- fold_cloth_batch2_noise_valid

**On-site evaluation**: Read `Robot Inference Interface` for more information.

### Dataset Field Description

#### Camera Images
The dataset includes three-view RGB images with a resolution of 1280×720 at 30 FPS. Field definitions:

| Dataset Field | Source |
| :--- | :--- |
| observation.images.x2w_camera_head_realsense_compressed | Head camera |
| observation.images.x2w_camera_left_wrist_zedxonegs_rgb_raw_image_compressed | Left wrist camera |
| observation.images.x2w_camera_right_wrist_zedxonegs_rgb_raw_image_compressed | Right wrist camera |

#### Language Instructions
The complete annotation information for the dataset can be found in `${dataset_name}/meta/info.json`. Each language annotation is left-closed and right-open, i.e., [start_frame_index, end_frame_index). Taking a 1000-frame manipulation task as an example:

| Segment | Segment 1 | Segment 2 | Segment 3 | Segment 4 |
| :--- | :--- | :--- | :--- | :--- |
| Frame Index | 0–99(exclude) | 99–420 | 420–910 | 910–1000 |
| Annotation | Start remote operation. | Open the washing machine door. | Close the washing machine door. | End remote operation. |

#### Proprioceptive and Actions
Including robot state (`observation.state`) and action (`action`), both with 89 dimensions, defined as follows:

##### 1. Joint Position (Index 0–21)
| Index | Source | Column Name | Physical Meaning | Unit |
| :--- | :--- | :--- | :--- | :--- |
| 0 | joint_state | folding_lower_joint | Folding lower joint angle | rad |
| 1 | joint_state | folding_upper_joint | Folding upper joint angle | rad |
| 2 | joint_state | waist_pitch_joint | Waist pitch joint angle | rad |
| 3 | joint_state | torso_yaw_joint | Torso yaw joint angle | rad |
| 4 | joint_state | head_yaw_joint | Head yaw joint angle | rad |
| 5 | joint_state | head_pitch_joint | Head pitch joint angle | rad |
| 6 | joint_state | left_shoulder_pitch_joint | Left shoulder pitch joint angle | rad |
| 7 | joint_state | left_shoulder_roll_joint | Left shoulder roll joint angle | rad |
| 8 | joint_state | left_shoulder_yaw_joint | Left shoulder yaw joint angle | rad |
| 9 | joint_state | left_elbow_pitch_joint | Left elbow pitch joint angle | rad |
| 10 | joint_state | left_wrist_roll_joint | Left wrist roll joint angle | rad |
| 11 | joint_state | left_wrist_yaw_joint | Left wrist yaw joint angle | rad |
| 12 | joint_state | left_wrist_pitch_joint | Left wrist pitch joint angle | rad |
| 13 | joint_state | right_shoulder_pitch_joint | Right shoulder pitch joint angle | rad |
| 14 | joint_state | right_shoulder_roll_joint | Right shoulder roll joint angle | rad |
| 15 | joint_state | right_shoulder_yaw_joint | Right shoulder yaw joint angle | rad |
| 16 | joint_state | right_elbow_pitch_joint | Right elbow pitch joint angle | rad |
| 17 | joint_state | right_wrist_roll_joint | Right wrist roll joint angle | rad |
| 18 | joint_state | right_wrist_yaw_joint | Right wrist yaw joint angle | rad |
| 19 | joint_state | right_wrist_pitch_joint | Right wrist pitch joint angle | rad |
| 20 | joint_state | left_finger_l_joint | Left finger joint angle | rad |
| 21 | joint_state | right_finger_l_joint | Right finger joint angle | rad |

##### 2. Joint Velocity (Index 22–43)
| Index | Source | Column Name | Physical Meaning | Unit |
| :--- | :--- | :--- | :--- | :--- |
| 22 | joint_state | folding_lower_joint_velocity | Folding lower joint angular velocity | rad/s |
| 23 | joint_state | folding_upper_joint_velocity | Folding upper joint angular velocity | rad/s |
| 24 | joint_state | waist_pitch_joint_velocity | Waist pitch joint angular velocity | rad/s |
| 25 | joint_state | torso_yaw_joint_velocity | Torso yaw joint angular velocity | rad/s |
| 26 | joint_state | head_yaw_joint_velocity | Head yaw joint angular velocity | rad/s |
| 27 | joint_state | head_pitch_joint_velocity | Head pitch joint angular velocity | rad/s |
| 28 | joint_state | left_shoulder_pitch_joint_velocity | Left shoulder pitch joint angular velocity | rad/s |
| 29 | joint_state | left_shoulder_roll_joint_velocity | Left shoulder roll joint angular velocity | rad/s |
| 30 | joint_state | left_shoulder_yaw_joint_velocity | Left shoulder yaw joint angular velocity | rad/s |
| 31 | joint_state | left_elbow_pitch_joint_velocity | Left elbow pitch joint angular velocity | rad/s |
| 32 | joint_state | left_wrist_roll_joint_velocity | Left wrist roll joint angular velocity | rad/s |
| 33 | joint_state | left_wrist_yaw_joint_velocity | Left wrist yaw joint angular velocity | rad/s |
| 34 | joint_state | left_wrist_pitch_joint_velocity | Left wrist pitch joint angular velocity | rad/s |
| 35 | joint_state | right_shoulder_pitch_joint_velocity | Right shoulder pitch joint angular velocity | rad/s |
| 36 | joint_state | right_shoulder_roll_joint_velocity | Right shoulder roll joint angular velocity | rad/s |
| 37 | joint_state | right_shoulder_yaw_joint_velocity | Right shoulder yaw joint angular velocity | rad/s |
| 38 | joint_state | right_elbow_pitch_joint_velocity | Right elbow pitch joint angular velocity | rad/s |
| 39 | joint_state | right_wrist_roll_joint_velocity | Right wrist roll joint angular velocity | rad/s |
| 40 | joint_state | right_wrist_yaw_joint_velocity | Right wrist yaw joint angular velocity | rad/s |
| 41 | joint_state | right_wrist_pitch_joint_velocity | Right wrist pitch joint angular velocity | rad/s |
| 42 | joint_state | left_finger_l_joint_velocity | Left finger joint angular velocity | rad/s |
| 43 | joint_state | right_finger_l_joint_velocity | Right finger joint angular velocity | rad/s |

##### 3. Joint Effort (Index 44–65)
| Index | Source | Column Name | Physical Meaning | Unit |
| :--- | :--- | :--- | :--- | :--- |
| 44 | joint_state | folding_lower_joint_effort | Folding lower joint output torque | N·m |
| 45 | joint_state | folding_upper_joint_effort | Folding upper joint output torque | N·m |
| 46 | joint_state | waist_pitch_joint_effort | Waist pitch joint output torque | N·m |
| 47 | joint_state | torso_yaw_joint_effort | Torso yaw joint output torque | N·m |
| 48 | joint_state | head_yaw_joint_effort | Head yaw joint output torque | N·m |
| 49 | joint_state | head_pitch_joint_effort | Head pitch joint output torque | N·m |
| 50 | joint_state | left_shoulder_pitch_joint_effort | Left shoulder pitch joint output torque | N·m |
| 51 | joint_state | left_shoulder_roll_joint_effort | Left shoulder roll joint output torque | N·m |
| 52 | joint_state | left_shoulder_yaw_joint_effort | Left shoulder yaw joint output torque | N·m |
| 53 | joint_state | left_elbow_pitch_joint_effort | Left elbow pitch joint output torque | N·m |
| 54 | joint_state | left_wrist_roll_joint_effort | Left wrist roll joint output torque | N·m |
| 55 | joint_state | left_wrist_yaw_joint_effort | Left wrist yaw joint output torque | N·m |
| 56 | joint_state | left_wrist_pitch_joint_effort | Left wrist pitch joint output torque | N·m |
| 57 | joint_state | right_shoulder_pitch_joint_effort | Right shoulder pitch joint output torque | N·m |
| 58 | joint_state | right_shoulder_roll_joint_effort | Right shoulder roll joint output torque | N·m |
| 59 | joint_state | right_shoulder_yaw_joint_effort | Right shoulder yaw joint output torque | N·m |
| 60 | joint_state | right_elbow_pitch_joint_effort | Right elbow pitch joint output torque | N·m |
| 61 | joint_state | right_wrist_roll_joint_effort | Right wrist roll joint output torque | N·m |
| 62 | joint_state | right_wrist_yaw_joint_effort | Right wrist yaw joint output torque | N·m |
| 63 | joint_state | right_wrist_pitch_joint_effort | Right wrist pitch joint output torque | N·m |
| 64 | joint_state | left_finger_l_joint_effort | Left finger joint output torque | N·m |
| 65 | joint_state | right_finger_l_joint_effort | Right finger joint output torque | N·m |

##### 4. End-Effector (Gripper) Pose (Index 66–79)
| Index | Source | Column Name | Physical Meaning | Unit |
| :--- | :--- | :--- | :--- | :--- |
| 66 | gripper_pose | left_gripper_x | Left gripper X position | m |
| 67 | gripper_pose | left_gripper_y | Left gripper Y position | m |
| 68 | gripper_pose | left_gripper_z | Left gripper Z position | m |
| 69 | gripper_pose | left_gripper_qx | Left gripper quaternion X component | - |
| 70 | gripper_pose | left_gripper_qy | Left gripper quaternion Y component | - |
| 71 | gripper_pose | left_gripper_qz | Left gripper quaternion Z component | - |
| 72 | gripper_pose | left_gripper_qw | Left gripper quaternion W component | - |
| 73 | gripper_pose | right_gripper_x | Right gripper X position | m |
| 74 | gripper_pose | right_gripper_y | Right gripper Y position | m |
| 75 | gripper_pose | right_gripper_z | Right gripper Z position | m |
| 76 | gripper_pose | right_gripper_qx | Right gripper quaternion X component | - |
| 77 | gripper_pose | right_gripper_qy | Right gripper quaternion Y component | - |
| 78 | gripper_pose | right_gripper_qz | Right gripper quaternion Z component | - |
| 79 | gripper_pose | right_gripper_qw | Right gripper quaternion W component | - |

##### 5. Wheel Joint State (Index 80–88)
| Index | Source | Column Name | Physical Meaning | Unit |
| :--- | :--- | :--- | :--- | :--- |
| 80 | wheel_joint_state | wheel_front_left_position | Front left wheel angular position | rad |
| 81 | wheel_joint_state | wheel_front_right_position | Front right wheel angular position | rad |
| 82 | wheel_joint_state | wheel_rear_position | Rear wheel angular position | rad |
| 83 | wheel_joint_state | wheel_front_left_velocity | Front left wheel angular velocity | rad/s |
| 84 | wheel_joint_state | wheel_front_right_velocity | Front right wheel angular velocity | rad/s |
| 85 | wheel_joint_state | wheel_rear_velocity | Rear wheel angular velocity | rad/s |
| 86 | wheel_joint_state | wheel_front_left_effort | Front left wheel output torque | N·m |
| 87 | wheel_joint_state | wheel_front_right_effort | Front right wheel output torque | N·m |
| 88 | wheel_joint_state | wheel_rear_effort | Rear wheel output torque | N·m |

### Robot Inference Interface
We provide a base Docker image for the robot's inference environment, in which you will need to implement two functions for your own model
```
def load_model(self):
    # TODO: implement model loading
    pass

def predict(self, sample: dict) -> np.ndarray:
    # TODO: implement inference, return np.ndarray of shape (N, 25)
    pass

def inference_loop(self):
    last_iner_time = time.time()
    while self.running:
        if self.prepare_in_progress or not self.enable_inference:
            time.sleep(0.1)
            continue

        tic = time.time()
        sample = self.update_input()
        prediction = self.predict(sample)
```

Although the full action fields are recorded in the dataset, only robot joint positions are used as control commands(25-dimensional) during inference. The complete field definitions:

| Index | Column Name | Physical Meaning | Unit |
| :--- | :--- | :--- | :--- |
| 0 | folding_lower_joint | Folding lower joint angle | rad |
| 1 | folding_upper_joint | Folding upper joint angle | rad |
| 2 | waist_pitch_joint | Waist pitch joint angle | rad |
| 3 | torso_yaw_joint | Torso yaw joint angle | rad |
| 4 | head_yaw_joint | Head yaw joint angle | rad |
| 5 | head_pitch_joint | Head pitch joint angle | rad |
| 6 | left_shoulder_pitch_joint | Left shoulder pitch joint angle | rad |
| 7 | left_shoulder_roll_joint | Left shoulder roll joint angle | rad |
| 8 | left_shoulder_yaw_joint | Left shoulder yaw joint angle | rad |
| 9 | left_elbow_pitch_joint | Left elbow pitch joint angle | rad |
| 10 | left_wrist_roll_joint | Left wrist roll joint angle | rad |
| 11 | left_wrist_yaw_joint | Left wrist yaw joint angle | rad |
| 12 | left_wrist_pitch_joint | Left wrist pitch joint angle | rad |
| 13 | right_shoulder_pitch_joint | Right shoulder pitch joint angle | rad |
| 14 | right_shoulder_roll_joint | Right shoulder roll joint angle | rad |
| 15 | right_shoulder_yaw_joint | Right shoulder yaw joint angle | rad |
| 16 | right_elbow_pitch_joint | Right elbow pitch joint angle | rad |
| 17 | right_wrist_roll_joint | Right wrist roll joint angle | rad |
| 18 | right_wrist_yaw_joint | Right wrist yaw joint angle | rad |
| 19 | right_wrist_pitch_joint | Right wrist pitch joint angle | rad |
| 20 | left_finger_l_joint | Left finger joint angle | rad |
| 21 | right_finger_l_joint | Right finger joint angle | rad |
| 22 | wheel_front_left_velocity | Front left wheel angular velocity | rad/s |
| 23 | wheel_front_right_velocity | Front right wheel angular velocity | rad/s |
| 24 | wheel_rear_velocity | Rear wheel angular velocity | rad/s |

## UMI Data
UMI data is sponsored by [crobotia](http://crobotia.com/). The dataset is constructed in the standard **LeRobot v2.1** dataset with five bimanual manipulation episodes and left/right wrist-mounted ego-camera data.

```bash
pip install "lerobot==0.3.3"
```

The dataset has been successfully loaded and frame-tested with Python 3.11, LeRobot 0.3.3, PyTorch 2.7.1, TorchVision 0.22.1, and the `pyav` video backend.

```python
from lerobot.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset(
    repo_id="local/umi_sample_data_v21",
    root="/path/to/umi_sample_data_v21",
)
```

### Dataset Overview

| Episode | `task_index` | Task | Frames | Duration |
| :--- | ---: | :--- | ---: | ---: |
| `episode_000000` | 0 | fold the red shirt | 1410 | 47 s |
| `episode_000001` | 1 | fold the black shirt | 1050 | 35 s |
| `episode_000002` | 2 | fold the yellow shirt | 870 | 29 s |
| `episode_000003` | 1 | fold the black shirt | 1050 | 35 s |
| `episode_000004` | 3 | fold the brown shirt | 1560 | 52 s |

The dataset contains 5,940 frames and four unique tasks. All episodes are recorded at 30 FPS, and the ego videos have a resolution of 960 × 960.

### Directory Structure

```text
umi_sample_data_v21/
├── data/chunk-000/                       # Five episode Parquet files
├── videos/chunk-000/
│   ├── observation.images.left_ego/      # Left-hand ego videos
│   └── observation.images.right_ego/     # Right-hand ego videos
├── meta/
│   ├── info.json                         # Dataset and feature definitions
│   ├── tasks.jsonl                       # Task-to-task_index mapping
│   ├── episodes.jsonl                    # Episode lengths and tasks
│   ├── episodes_stats.jsonl              # Per-episode statistics
│   └── calibration.json                  # Camera and IMU calibration
├── annotation/                           # Episode-level and action-step annotations
└── imu/                                  # Left/right IMU data
```

### Dataset Fields

#### Camera Images

| Dataset field | Source |
| :--- | :--- |
| `observation.images.left_ego` | Left wrist-mounted RGB ego camera, 960 × 960 |
| `observation.images.right_ego` | Right wrist-mounted RGB ego camera, 960 × 960 |

#### Proprioception and Actions

Both `observation.state` and `action` are 16-dimensional and use the same field order:

| Indices | Fields | Meaning | Unit |
| :--- | :--- | :--- | :--- |
| 0–2 | `left_x, left_y, left_z` | Left end-effector position | m |
| 3–6 | `left_qw, left_qx, left_qy, left_qz` | Left end-effector quaternion `(w, x, y, z)` | - |
| 7 | `left_gripper` | Left gripper opening angle | ° |
| 8–10 | `right_x, right_y, right_z` | Right end-effector position | m |
| 11–14 | `right_qw, right_qx, right_qy, right_qz` | Right end-effector quaternion `(w, x, y, z)` | - |
| 15 | `right_gripper` | Right gripper opening angle | ° |

`observation.state` represents the current-frame state. Except for the final frame, `action[t] = state[t+1]`. The final action retains the next-step target from the original capture sequence and therefore may differ from the final state of the episode. The left and right poses use independent coordinate systems and cannot be used directly to compute the relative distance or pose between the two hands.

#### Index Fields

| Field | Type | Description |
| :--- | :--- | :--- |
| `timestamp` | float32 | Time within the episode, in seconds |
| `frame_index` | int64 | Zero-based frame index within the episode |
| `episode_index` | int64 | Episode index in the range 0–4 |
| `index` | int64 | Global frame index in the range 0–5,939 |
| `task_index` | int64 | Task identifier mapped by `meta/tasks.jsonl` |

#### Annotations and IMU

| File | Description |
| :--- | :--- |
| `annotation/episode_subtasks_*.jsonl` | Episode-level task, target-object, and success annotations |
| `annotation/action_steps_*.jsonl` | Fine-grained action-step segments |
| `imu/episode_*_{left,right}.csv` | Left/right timestamps, three-axis angular velocity, and three-axis acceleration |

Annotation intervals use the half-open convention `[start_frame_index, end_frame_index)`: the start frame is included and the end frame is excluded.

---