README.md

metadata

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.

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
  • LeRobot Integration

Test Bed

• 3D printed test bed with embedded M4 nuts. See robot hardware page for more details
• 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:

{
    "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": [
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            ],
            "names": null
        },
        "index": {
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            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

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