---
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