| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - manipulation |
| - pick-and-place |
| - cafe-serving |
| - omx |
| size_categories: |
| - 100K<n<1M |
| --- |
| |
| # serving_ab — Café Pick-and-Place (Long Episode + Atomic Demos) |
| |
| LeRobot **v3.0** dataset for OpenManipulator-X (OMX) café serving task. |
| This is the **merged dataset combining Category A (Long Episode) and Category B (Atomic Demos)** used for the full GR00T N1.7 fine-tuning schedule. |
| |
| --- |
| |
| ## Dataset summary |
| |
| | Item | Value | |
| | ------------------ | ---------------------------------------------- | |
| | Robot | OpenManipulator-X 4-DOF (`omx_follower`) | |
| | Codebase version | `v3.0` | |
| | Total episodes | 425 (A: 265, B: 160) | |
| | Total frames | 219,877 | |
| | Total duration | ~2h 2m @ 30 fps | |
| | FPS | 30 | |
| | Cameras | `observation.images.top`, `observation.images.wrist` (640×480, 30 fps) | |
| | State / Action dim | 6 each (single_arm × 5, gripper × 1) | |
| | Action horizon | 16 (configured via `examples/OMX/omx_config.py`) | |
| | Tasks | 3 (see below) | |
|
|
| ## Tasks (`task_index`) |
| |
| | index | instruction | |
| | :---: | ------------------------------------------ | |
| | 0 | `pick up plate and place at target zone` | |
| | 1 | `pick up cup and place at target zone` | |
| | 2 | `return to home` | |
| |
| ### task distribution |
| |
| | task_index | frames | pct | |
| | ---------- | -----: | ---: | |
| | 0 (plate) | 74,679 | 34.0% | |
| | 1 (cup) | 96,803 | 44.0% | |
| | 2 (home) | 48,395 | 22.0% | |
|
|
| --- |
|
|
| ## Composition |
|
|
| ### Category A — Long Episode (265 episodes, eps 0~264) |
|
|
| Multi-step pick-and-place scenarios starting and ending at home pose. |
|
|
| | sub-id | scenario | env state | total | |
| | :----: | -------------------- | -------------------- | ----: | |
| | A-1 | one cup | cup=1 | 35 | |
| | A-2 | one plate | plate=1 | 35 | |
| | A-3 | two plates | plate=2 | 40 | |
| | A-4 | two cups | cup=2 | 40 | |
| | A-5 | one cup + one plate | plate=1, cup=1 | 50 | |
| | A-6 | two cups + one plate | plate=1, cup=2 | 45 | |
| | A-7 | empty (stop) | empty / leftovers | 20 | |
|
|
| ### Category B — Atomic Demos (160 episodes, eps 265~424) |
|
|
| Skill-focused demonstrations to strengthen foundational grip reliability and multi-object handling. |
|
|
| | sub-id | skill | total | |
| | :----: | -------------------------------- | ----: | |
| | B-1 | plate single pick-and-place | 50 | |
| | B-2 | cup single pick-and-place | 50 | |
| | B-3 | sequential two plates | 20 | |
| | B-4 | sequential 2~3 cups | 20 | |
| | B-5 | retry recovery | 20 | |
|
|
| Pick locations follow a **3×4 grid (12 positions, 7.5 cm spacing)** spanning the OMX reachable workspace; each cell is visited 4~5 times in B-1/B-2 and 3 times in A-1/A-2 for position diversity. |
|
|
| --- |
|
|
| ## Label boundary scheme |
|
|
| Multi-task episodes are segmented into per-action task ranges. Boundaries were auto-detected from gripper state events (`fully_close` → next `start_open`); missing boundaries in incomplete episodes were estimated from the median position percentile of complete episodes in the same scenario. |
|
|
| | sub-id | segment pattern | |
| | :----: | -------------------------------------------------------------- | |
| | A-1 | `cup(1) → home(2)` | |
| | A-2 | `plate(0) → home(2)` | |
| | A-3 | `plate(0) → plate(0) → home(2)` (per-plate segment restart) | |
| | A-4 | `cup(1) → cup(1) → home(2)` (per-cup segment restart) | |
| | A-5 | `cup(1) → plate(0) → home(2)` | |
| | A-6 | `cup(1) → cup(1) → plate(0) → home(2)` | |
| | A-7 | `home(2)` only | |
| | B-1 | `plate(0) → home(2)` | |
| | B-2 | `cup(1) → home(2)` | |
| | B-3 | `plate(0) → plate(0) → home(2)` | |
| | B-4 | `cup(1) → cup(1) → home(2)` (or 3 cups) | |
| | B-5 | `<obj> → <obj> → home(2)` (retry segments same task_index) | |
| |
| --- |
| |
| ## Repository layout |
| |
| ``` |
| serving_ab/ |
| ├── data/chunk-000/file-000.parquet # all 219,877 frames concatenated |
| ├── meta/ |
| │ ├── info.json # codebase_version=v3.0, totals |
| │ ├── tasks.parquet # task_index → instruction |
| │ ├── tasks.jsonl # mirror of tasks.parquet |
| │ ├── modality.json # GR00T modality mapping (state/action/video/annotation) |
| │ ├── stats.json # aggregate stats (mean/std/min/max/q01/q99) |
| │ └── episodes/chunk-000/file-000.parquet # per-episode metadata + stats (107 cols) |
| └── videos/ |
| ├── observation.images.top/chunk-000/file-000.mp4 # ~924 MB |
| └── observation.images.wrist/chunk-000/file-000.mp4 # ~1.59 GB |
| ``` |
| |
| --- |
|
|
| ## Companion datasets |
|
|
| | Repo | Format | Episodes | Notes | |
| | ------------------------------------------------------------------- | ------ | -------: | --------------------------- | |
| | [`jae0311/serving_a`](https://huggingface.co/datasets/jae0311/serving_a) | v3.0 | 265 | Category A only (long episodes) | |
| | [`jae0311/serving_b`](https://huggingface.co/datasets/jae0311/serving_b) | v2.1 | 160 | Category B only (atomic demos) | |
|
|
| --- |
|
|
| ## Recommended training schedule (GR00T N1.7) |
|
|
| | Stage | Data | max-steps | LR | Goal | |
| | :---: | -------------- | :-------: | :----: | ------------------------------------------------- | |
| | 1 | `serving_b` | 5,000 | 1e-4 | atomic pick-and-place reliability (90%+) | |
| | 2 | `serving_ab` | 25,000 | 5e-5 | long-episode performance from Stage 1 checkpoint | |
|
|
| - effective batch size: 32 (per_device_batch=8 × grad_accum=4) |
| - action horizon: 16 |
| - color jitter: brightness 0.2, contrast 0.2, saturation 0.4, hue 0.08 |
| |
| --- |
| |
| ## Acknowledgments |
| |
| - Model: [GR00T N1.7](https://huggingface.co/nvidia/GR00T-N1.7-3B) (NVIDIA) |
| - Dataset format: [LeRobot](https://github.com/huggingface/lerobot) |
| - Robot: ROBOTIS OpenManipulator-X |
| |
