| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - robotics |
| - isaac-sim |
| - assembly |
| - manipulation |
| - imitation-learning |
| - contact-rich |
| configs: |
| - config_name: default |
| data_files: data/*/*.parquet |
| --- |
| |
| # AssembleBench |
|
|
| Multi-task contact-rich assembly demonstrations for imitation learning / VLA fine-tuning, |
| and the training set behind the [AssembleBench](https://github.com/hud-evals/assemble-bench) |
| benchmark: 14 tasks on the NIST ATB-1 taskboard (insert round and square pegs, mesh gears, |
| thread nuts) on the DROID robot platform. |
|
|
| Read the writeup: [Benchmarking Robot Models on Contact-Rich Assembly](https://www.hud.ai/blog/assemble-benchmark). |
|
|
| This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
|
|
| <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=hud-evals/AssembleBench"> |
| <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/> |
| <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-dark-xl.svg"/> |
| </a> |
|
|
| ## Summary |
|
|
| | | | |
| |---|---| |
| | Episodes | **1355** | |
| | Frames | **444651** | |
| | FPS | 15 | |
| | Tasks | 14 (pegs, gears, nuts; **no M20**) | |
| | Action | DROID 8-D joint position (7 arm + binary gripper) | |
| | Cameras | `observation.images.front`, `observation.images.wrist` at 180x320 | |
| | Proprio | `observation.state` (8), `joint_vel` (7), `eef_pos` (3), `eef_quat` (4) | |
|
|
| ## Tasks (episode counts) |
|
|
| Language-conditioned pick / insert / mesh / thread: |
|
|
| | family | task | n | |
| |--------|------|---| |
| | peg_round | 4 / 8 / 12 / 16 mm | 96 / 99 / 100 / 100 | |
| | peg_square | 4 / 8 / 12 / 16 mm | 98 / 98 / 99 / 100 | |
| | gear_mesh | small / medium / large | 92 / 97 / 92 | |
| | nut_thread | M8 / M12 / M16 | 90 / 95 / 99 | |
|
|
| **M20 removed:** embedding analysis (PCA / t-SNE) showed M20 as a separate mode that split the nut cluster; it is not included. |
|
|
| ## How it was built |
|
|
| Built from a cleaned and topped-up revision of |
| [`lukasskellijs/assembly_bench_2`](https://huggingface.co/datasets/lukasskellijs/assembly_bench_2), |
| with a second QC pass for duplicates, idle chunks, length outliers, and within-family |
| Mahalanobis outliers. Pipeline: |
|
|
| 1. Start from the cleaned v2 revision (911 eps: dups + long outliers already removed from the original 1500). |
| 2. Drop all **M20** nut episodes. |
| 3. Append scripted-expert top-up HDF5 demos that refill the gaps left by the clean pass (success-filtered Isaac Lab recordings). |
| 4. QC blocklist (45 trajectories by MD5 of full `action || state`): |
| - exact-duplicate extras (none remained after clean + ingest dedup) |
| - idle runs >= 15 frames (action-chunk size used in training) |
| - per-task length >3 sigma and clear within-family **20-PC Mahalanobis** outliers (retry / thrash / bad seat) |
| 5. Final exact-duplicate scan must be zero or the build aborts. |
|
|
| Quality over quantity: mild multivariate peg shape outliers that look like valid successes were kept. |
|
|
| ## Schema |
|
|
| DROID joint-position contract: |
|
|
| | key | shape | notes | |
| |-----|-------|--------| |
| | `action` | (8,) | absolute joint targets + gripper | |
| | `observation.state` | (8,) | joint pos (7) + gripper | |
| | `observation.joint_vel` | (7,) | rad/s | |
| | `observation.eef_pos` | (3,) | base-frame XYZ (m) | |
| | `observation.eef_quat` | (4,) | world WXYZ | |
| | `observation.images.front` | video HxWx3 | 180x320 | |
| | `observation.images.wrist` | video HxWx3 | 180x320 | |
|
|
| ## Load |
|
|
| ```python |
| from lerobot.datasets.lerobot_dataset import LeRobotDataset |
| |
| ds = LeRobotDataset("hud-evals/AssembleBench") |
| print(ds.num_episodes, ds.num_frames) |
| print(ds[0]["observation.images.wrist"].shape) |
| ``` |
|
|
| ## Intended use |
|
|
| - Supervised fine-tuning of VLA / diffusion / ACT policies with **action chunk size 15** |
| - Multi-task assembly benchmarking (peg / gear / nut families) |
|
|
| Not a teleop human dataset. Demonstrations are from a privileged scripted expert in Isaac Sim / Isaac Lab; visuals and proprio match the policy observation contract. |
|
|
| ## Reference checkpoints |
|
|
| pi0.5 finetunes trained on this dataset: |
|
|
| | Checkpoint | What it is | |
| |---|---| |
| | [`pi05-AssembleBench-12k`](https://huggingface.co/hud-evals/pi05-AssembleBench-12k) | behavior-cloning baseline, all 14 tasks | |
| | [`pi05-AssembleBench-cgdagger-r3`](https://huggingface.co/hud-evals/pi05-AssembleBench-cgdagger-r3) | BC + 3 rounds of code-gated DAgger, the final checkpoint | |
|
|
| ## Lineage |
|
|
| - Simulator: NVIDIA Isaac Sim 6 / Isaac Lab Arena |
| - Format: LeRobot v3.0 |
|
|
