| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - TeleXperience |
| - DualArxR5a |
| - teleoperation |
| - dual-arm |
| - wipe-table |
| - living-room |
| configs: |
| - config_name: default |
| data_files: data/*/*.parquet |
| --- |
| |
| This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
|
|
|
|
| <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=io-intelligence/WipeTable_DualArxR5a_TeleXperience"> |
| <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-xl-dark.svg"/> |
| </a> |
|
|
|
|
| ## Dataset Description |
|
|
| 73 real-robot teleoperation episodes for **“Wipe the table.”** on a **DualArxR5a** dual-arm robot. Format: [LeRobot](https://github.com/huggingface/lerobot) **v3.0** (30 Hz parquet + H.264 videos). |
|
|
| Collected with **[TeleXperience](https://io-ai.tech/en/telexperience/)**, IO-AI’s product for real-robot teleoperation and data collection. |
|
|
| - **Task / language prompt:** `Wipe the table.` |
| - **Robot:** DualArxR5a (bimanual, parallel-jaw grippers) |
| - **Frames:** 629523 at 30 Hz |
| - **Cameras:** `camera_high` (overhead), `camera_low` (lower scene), `camera_left_wrist`, `camera_right_wrist` |
| - **Action / state:** 14-D, same names and order: `left_joint1–6`, `right_joint1–6`, `right_gripper`, `left_gripper` (grippers in `[0, 1]`) |
|
|
| - **Homepage:** https://io-ai.tech/en/telexperience/ |
| - **Paper:** none |
| - **License:** apache-2.0 |
|
|
| ## Dataset Structure |
|
|
| [meta/info.json](meta/info.json): |
| ```json |
| { |
| "codebase_version": "v3.0", |
| "fps": 30, |
| "features": { |
| "action": { |
| "dtype": "float64", |
| "names": [ |
| "left_joint1", |
| "left_joint2", |
| "left_joint3", |
| "left_joint4", |
| "left_joint5", |
| "left_joint6", |
| "right_joint1", |
| "right_joint2", |
| "right_joint3", |
| "right_joint4", |
| "right_joint5", |
| "right_joint6", |
| "right_gripper", |
| "left_gripper" |
| ], |
| "shape": [ |
| 14 |
| ] |
| }, |
| "episode_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "frame_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "observation.images.camera_high": { |
| "dtype": "video", |
| "info": { |
| "has_audio": false, |
| "video.channels": 3, |
| "video.codec": "h264", |
| "video.fps": 30, |
| "video.height": 480, |
| "video.is_depth_map": false, |
| "video.pix_fmt": "yuv420p", |
| "video.width": 640 |
| }, |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ] |
| }, |
| "observation.images.camera_left_wrist": { |
| "dtype": "video", |
| "info": { |
| "has_audio": false, |
| "video.channels": 3, |
| "video.codec": "h264", |
| "video.fps": 30, |
| "video.height": 480, |
| "video.is_depth_map": false, |
| "video.pix_fmt": "yuv420p", |
| "video.width": 640 |
| }, |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ] |
| }, |
| "observation.images.camera_low": { |
| "dtype": "video", |
| "info": { |
| "has_audio": false, |
| "video.channels": 3, |
| "video.codec": "h264", |
| "video.fps": 30, |
| "video.height": 480, |
| "video.is_depth_map": false, |
| "video.pix_fmt": "yuv420p", |
| "video.width": 640 |
| }, |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ] |
| }, |
| "observation.images.camera_right_wrist": { |
| "dtype": "video", |
| "info": { |
| "has_audio": false, |
| "video.channels": 3, |
| "video.codec": "h264", |
| "video.fps": 30, |
| "video.height": 480, |
| "video.is_depth_map": false, |
| "video.pix_fmt": "yuv420p", |
| "video.width": 640 |
| }, |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ] |
| }, |
| "observation.state": { |
| "dtype": "float64", |
| "names": [ |
| "left_joint1", |
| "left_joint2", |
| "left_joint3", |
| "left_joint4", |
| "left_joint5", |
| "left_joint6", |
| "right_joint1", |
| "right_joint2", |
| "right_joint3", |
| "right_joint4", |
| "right_joint5", |
| "right_joint6", |
| "right_gripper", |
| "left_gripper" |
| ], |
| "shape": [ |
| 14 |
| ] |
| }, |
| "task_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "timestamp": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ] |
| } |
| }, |
| "total_episodes": 73, |
| "total_frames": 629523, |
| "total_tasks": 1, |
| "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": "DualArxR5a", |
| "splits": { |
| "train": "0:73" |
| } |
| } |
| ``` |
|
|
|
|
| ## How to load |
|
|
| ```python |
| from lerobot.datasets import LeRobotDataset |
| |
| dataset = LeRobotDataset( |
| repo_id="io-intelligence/WipeTable_DualArxR5a_TeleXperience", |
| ) |
| print(dataset) |
| frame = dataset[0] |
| ``` |
|
|
| Local path (before upload): |
|
|
| ```python |
| dataset = LeRobotDataset( |
| repo_id="io-intelligence/WipeTable_DualArxR5a_TeleXperience", |
| root="/path/to/livingroom_wipe_table_livingroom_wipe_table_DualArxR5a", |
| download_videos=False, |
| video_backend="pyav", |
| ) |
| ``` |
|
|
| ## Citation |
|
|
| **BibTeX:** none |
|
|
|
|
