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---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- manipulation
- dual-arm
- pick-and-place
configs:
- config_name: default
data_files: data/*/*.parquet
language:
- en
---
# ARX Pick Block Dataset
This dataset was created using [LeRobot](https://github.com/huggingface/lerobot) and contains dual-arm robotic manipulation demonstrations for pick-and-place tasks.
## Dataset Description
- **Homepage:** [https://io-ai.tech](https://io-ai.tech)
- **License:** Apache-2.0
### Task Overview
<video src="https://huggingface.co/datasets/io-intelligence/arx_pick_block/resolve/main/arx_pick_block.mp4" width="640" autoplay muted controls loop></video>
This dataset contains demonstrations of a dual-arm robotic manipulation task where the robot picks up a block from a desk and places it into a plate.
### Task Details
- **Task Objective:** Pick up the block from the desk and place into plate
- **Operational Objects:** Block
- **Operation Duration:** Each operation takes approximately 8 to 15 seconds
- **Recording Frequency:** 15 Hz
- **Robot Type:** 7-DOF dual-arm ARX R5A
- **End Effector:** Gripper
- **Dual-Arm Operation:** Yes
- **Image Resolution:** 640x480
- **Camera Positions:** High; Low
- **Data Content:**
• Robot's current state (8 joint positions)
• Robot's next action (8 joint commands)
• Current camera view images (dual camera setup)
• Task success score
## Dataset Structure
[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v3.0",
"robot_type": "Arx_R5A",
"total_episodes": 162,
"total_frames": 35733,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 15,
"splits": {
"train": "0:162"
},
"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",
"features": {
"observation.images.camera_high": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.camera_low": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"observation.state": {
"dtype": "float64",
"shape": [
8
],
"names": [
"joint1",
"joint2",
"joint3",
"joint4",
"joint5",
"joint6",
"joint7",
"joint8"
]
},
"action": {
"dtype": "float64",
"shape": [
8
],
"names": [
"joint1",
"joint2",
"joint3",
"joint4",
"joint5",
"joint6",
"joint7",
"joint8"
]
},
"observation.score": {
"dtype": "float32",
"shape": [
1
],
"names": [
"score"
]
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": []
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": []
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": []
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": []
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": []
}
}
}
```
## Data Fields
| Field | Type | Shape | Description |
|-------|------|-------|-------------|
| `observation.images.camera_high` | video | (480, 640, 3) | High camera view |
| `observation.images.camera_low` | video | (480, 640, 3) | Low camera view |
| `observation.state` | float64 | (8,) | Joint positions (joint1-joint8) |
| `action` | float64 | (8,) | Joint commands (joint1-joint8) |
| `observation.score` | float32 | (1,) | Task success score |
| `timestamp` | float32 | (1,) | Timestamp |
| `frame_index` | int64 | (1,) | Frame index within episode |
| `episode_index` | int64 | (1,) | Episode index |
| `task_index` | int64 | (1,) | Task index |
## Dataset Statistics
- **Total Episodes:** 162
- **Total Frames:** 35,733
- **Total Tasks:** 1
- **Frame Rate:** 15 FPS
- **Data Size:** ~100 MB (parquet files)
- **Video Size:** ~500 MB (MP4 files)
- **Chunk Size:** 1000 frames per chunk
## Citation
If you use this dataset in your research, please cite:
```bibtex
@dataset{arx_pick_block_2024,
title={ARX Pick Block Dataset},
author={IO Intelligence},
year={2024},
url={https://huggingface.co/datasets/io-intelligence/arx_pick_block},
license={Apache-2.0}
}
```
## License
This dataset is released under the Apache License 2.0. See the [LICENSE](LICENSE) file for more details.
## Contributing
Contributions to improve this dataset are welcome! Please feel free to submit issues or pull requests.
## Contact
For questions or support, please contact us at [https://io-ai.tech](https://io-ai.tech).
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