---
license: cc-by-4.0
task_categories:
- robotics
tags:
- LeRobot
configs:
- config_name: default
  data_files: data/*/*.parquet
---

# Screwdriver 391

![Koch Screwdriver Robot](./robot.jpg)

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