Datasets:
File size: 6,073 Bytes
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license: cc-by-4.0
task_categories:
- robotics
tags:
- LeRobot
configs:
- config_name: default
data_files: data/*/*.parquet
---
# Screwdriver 391
391 episodes of human expert demonstrations for the [Koch Screwdriver robot](https://github.com/huggingface/lerobot/pull/1551).
**Task**: Three variations of attaching a 3d printed panel to a 3d printed test bed - center, left, and right positions.
## Task Setup
### Cameras
- Top - ELP 5-50mm Varifocal Lens 1080P USB Camera with H.264 High Definition Sony IMX323 Webcam
- Side - ELP 5-50mm Varifocal Lens 1080P USB Camera with H.264 High Definition Sony IMX323 Webcam
- Screwdriver wrist - SVPRO 5MP 30FPS USB Camera
### Robot
- Koch Screwdriver Robot
- [Hardware](https://github.com/jackvial/koch_robotic_arm_screwdriver)
- [LeRobot Integration](https://github.com/huggingface/lerobot/pull/1551)
### Test Bed
- 3D printed test bed with embedded M4 nuts. [See robot hardware page for more details](https://github.com/jackvial/koch_robotic_arm_screwdriver)
- Mounted on 1.5 inch wood block. This is to provide surface clearance when the robot is at reset given the difference between the screwdriver manipulator and the teleoperation trigger.
## Dataset Statistics
- **Total Episodes**: 391
- **Total Frames**: 80,859
- **Robot Type**: koch_screwdriver_follower
- **FPS**: 30
### Episode Length Statistics
- **Min Length**: 162 frames
- **Max Length**: 245 frames
- **Average Length**: 206.8 frames
- **Std Deviation**: 23.7 frames
### Task Variations
- **Center Position**: 132 episodes
- **Left Position**: 134 episodes
- **Right Position**: 125 episodes
## Dataset Structure
[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v2.1",
"robot_type": "koch_screwdriver_follower",
"total_episodes": 391,
"total_frames": 80859,
"total_tasks": 5,
"total_videos": 0,
"total_chunks": 0,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:391"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
"action": {
"dtype": "float32",
"shape": [
6
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"screwdriver.vel"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"screwdriver.vel"
]
},
"observation.images.screwdriver": {
"dtype": "video",
"shape": [
600,
800,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 600,
"video.width": 800,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.side": {
"dtype": "video",
"shape": [
600,
800,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 600,
"video.width": 800,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.top": {
"dtype": "video",
"shape": [
600,
800,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 600,
"video.width": 800,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"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
}
}
}
```
## Citation
**BibTeX:**
```bibtex
@misc{vial2025screwdriver391,
title={Screwdriver 391: Human Expert Demonstrations for Koch Screwdriver Robot},
author={Vial, Jack},
year={2025},
howpublished={\url{https://huggingface.co/datasets/jackvial/screwdriver-391}},
note={391 episodes of human expert demonstrations for robotic screwdriver manipulation tasks}
}
```
## Contact
For queries related to this dataset, contact:
- vialjack@gmail.com
|