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--- |
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license: cc-by-4.0 |
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task_categories: |
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- robotics |
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tags: |
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- LeRobot |
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configs: |
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- config_name: default |
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data_files: data/*/*.parquet |
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--- |
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# Screwdriver 391 |
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391 episodes of human expert demonstrations for the [Koch Screwdriver robot](https://github.com/huggingface/lerobot/pull/1551). |
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**Task**: Three variations of attaching a 3d printed panel to a 3d printed test bed - center, left, and right positions. |
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## Task Setup |
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### Cameras |
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- Top - ELP 5-50mm Varifocal Lens 1080P USB Camera with H.264 High Definition Sony IMX323 Webcam |
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- Side - ELP 5-50mm Varifocal Lens 1080P USB Camera with H.264 High Definition Sony IMX323 Webcam |
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- Screwdriver wrist - SVPRO 5MP 30FPS USB Camera |
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### Robot |
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- Koch Screwdriver Robot |
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- [Hardware](https://github.com/jackvial/koch_robotic_arm_screwdriver) |
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- [LeRobot Integration](https://github.com/huggingface/lerobot/pull/1551) |
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### Test Bed |
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- 3D printed test bed with embedded M4 nuts. [See robot hardware page for more details](https://github.com/jackvial/koch_robotic_arm_screwdriver) |
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- 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. |
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## Dataset Statistics |
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- **Total Episodes**: 391 |
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- **Total Frames**: 80,859 |
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- **Robot Type**: koch_screwdriver_follower |
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- **FPS**: 30 |
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### Episode Length Statistics |
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- **Min Length**: 162 frames |
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- **Max Length**: 245 frames |
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- **Average Length**: 206.8 frames |
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- **Std Deviation**: 23.7 frames |
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### Task Variations |
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- **Center Position**: 132 episodes |
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- **Left Position**: 134 episodes |
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- **Right Position**: 125 episodes |
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## Dataset Structure |
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[meta/info.json](meta/info.json): |
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```json |
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{ |
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"codebase_version": "v2.1", |
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"robot_type": "koch_screwdriver_follower", |
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"total_episodes": 391, |
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"total_frames": 80859, |
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"total_tasks": 5, |
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"total_videos": 0, |
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"total_chunks": 0, |
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"chunks_size": 1000, |
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"fps": 30, |
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"splits": { |
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"train": "0:391" |
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}, |
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", |
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"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", |
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"features": { |
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"action": { |
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"dtype": "float32", |
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"shape": [ |
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6 |
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], |
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"names": [ |
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"shoulder_pan.pos", |
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"shoulder_lift.pos", |
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"elbow_flex.pos", |
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"wrist_flex.pos", |
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"wrist_roll.pos", |
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"screwdriver.vel" |
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] |
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}, |
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"observation.state": { |
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"dtype": "float32", |
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"shape": [ |
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6 |
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], |
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"names": [ |
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"shoulder_pan.pos", |
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"shoulder_lift.pos", |
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"elbow_flex.pos", |
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"wrist_flex.pos", |
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"wrist_roll.pos", |
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"screwdriver.vel" |
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] |
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}, |
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"observation.images.screwdriver": { |
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"dtype": "video", |
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"shape": [ |
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600, |
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800, |
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3 |
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], |
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"names": [ |
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"height", |
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"width", |
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"channels" |
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], |
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"info": { |
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"video.height": 600, |
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"video.width": 800, |
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"video.codec": "av1", |
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"video.pix_fmt": "yuv420p", |
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"video.is_depth_map": false, |
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"video.fps": 30, |
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"video.channels": 3, |
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"has_audio": false |
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} |
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}, |
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"observation.images.side": { |
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"dtype": "video", |
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"shape": [ |
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600, |
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800, |
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3 |
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], |
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"names": [ |
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"height", |
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"width", |
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"channels" |
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], |
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"info": { |
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"video.height": 600, |
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"video.width": 800, |
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"video.codec": "av1", |
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"video.pix_fmt": "yuv420p", |
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"video.is_depth_map": false, |
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"video.fps": 30, |
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"video.channels": 3, |
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"has_audio": false |
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} |
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}, |
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"observation.images.top": { |
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"dtype": "video", |
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"shape": [ |
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600, |
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800, |
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3 |
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], |
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"names": [ |
|
|
"height", |
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"width", |
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"channels" |
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], |
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"info": { |
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"video.height": 600, |
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"video.width": 800, |
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"video.codec": "av1", |
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"video.pix_fmt": "yuv420p", |
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"video.is_depth_map": false, |
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"video.fps": 30, |
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"video.channels": 3, |
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"has_audio": false |
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} |
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}, |
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"timestamp": { |
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"dtype": "float32", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"frame_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"episode_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"task_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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} |
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} |
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} |
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``` |
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## Citation |
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**BibTeX:** |
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```bibtex |
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@misc{vial2025screwdriver391, |
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title={Screwdriver 391: Human Expert Demonstrations for Koch Screwdriver Robot}, |
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author={Vial, Jack}, |
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year={2025}, |
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howpublished={\url{https://huggingface.co/datasets/jackvial/screwdriver-391}}, |
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note={391 episodes of human expert demonstrations for robotic screwdriver manipulation tasks} |
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} |
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``` |
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## Contact |
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For queries related to this dataset, contact: |
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- vialjack@gmail.com |
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