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README.md

@@ -4,102 +4,185 @@ task_categories:
 - robotics
 tags:
 - LeRobot
-- robotics
-- isaac-sim
-- assembly
-- manipulation
-- imitation-learning
-- contact-rich
 configs:
 - config_name: default
   data_files: data/*/*.parquet
 ---
 
-# assembly_bench_3
-
-Multi-task contact-rich assembly demonstrations for imitation learning / VLA fine-tuning.
-Built from a cleaned and topped-up revision of [`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.
-
 This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
 
+
 <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=lukasskellijs/assembly_bench_3">
 <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"/>
+<img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.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
 
-Pipeline:
-
-1. Start from [`assembly_bench_2_clean`](https://huggingface.co/datasets/lukasskellijs/assembly_bench_2_clean) (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 >3σ 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
-
-Same contract as `assembly_bench_2` / DROID joint-pos:
-
-| 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("lukasskellijs/assembly_bench_3")
-print(ds.num_episodes, ds.num_frames)
-print(ds[0]["observation.images.wrist"].shape)
+## Dataset Description
+
+
+
+- **Homepage:** [More Information Needed]
+- **Paper:** [More Information Needed]
+- **License:** apache-2.0
+
+## Dataset Structure
+
+[meta/info.json](meta/info.json):
+```json
+{
+    "codebase_version": "v3.0",
+    "fps": 15,
+    "features": {
+        "observation.images.front": {
+            "dtype": "video",
+            "shape": [
+                180,
+                320,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.height": 180,
+                "video.width": 320,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false,
+                "video.g": 2,
+                "video.crf": 20,
+                "video.preset": null,
+                "video.fast_decode": 0,
+                "video.video_backend": "pyav",
+                "video.extra_options": {},
+                "is_depth_map": false
+            }
+        },
+        "observation.images.wrist": {
+            "dtype": "video",
+            "shape": [
+                180,
+                320,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.height": 180,
+                "video.width": 320,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false,
+                "video.g": 2,
+                "video.crf": 20,
+                "video.preset": null,
+                "video.fast_decode": 0,
+                "video.video_backend": "pyav",
+                "video.extra_options": {},
+                "is_depth_map": false
+            }
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                8
+            ],
+            "names": null
+        },
+        "observation.joint_vel": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": null
+        },
+        "observation.eef_pos": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": null
+        },
+        "observation.eef_quat": {
+            "dtype": "float32",
+            "shape": [
+                4
+            ],
+            "names": null
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                8
+            ],
+            "names": null
+        },
+        "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
+        }
+    },
+    "total_episodes": 1355,
+    "total_frames": 444651,
+    "total_tasks": 14,
+    "chunks_size": 1000,
+    "data_files_size_in_mb": 100,
+    "video_files_size_in_mb": 200,
+    "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",
+    "robot_type": null,
+    "splits": {
+        "train": "0:1355"
+    }
+}
 ```
 
-## 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.
+## Citation
 
-## Citation / lineage
+**BibTeX:**
 
-- Source family: `lukasskellijs/assembly_bench_2` → `assembly_bench_2_clean` → top-up + QC → **`assembly_bench_3`**
-- Simulator: NVIDIA Isaac Sim 6 / Isaac Lab Arena
-- Format: LeRobot v3.0
+```bibtex
+[More Information Needed]
+```