---
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).