LivDualArm-Grip-Sample

A sample robot manipulation dataset for the task opening a drawer, collected on a dual-arm platform with grippers. It is intended for quick inspection, format validation, and prototyping (for example with LeRobot-style tooling), not as a full-scale training corpus.

Task

• Primary language task string: Open drawer.
• Behavior: Bimanual (dual-arm) trajectories that pull open a drawer; episodes are labeled with this task in meta/episodes.jsonl.

The task registry in meta/tasks.jsonl also lists a generic dual_arm task entry; all episodes in this release are associated with Open drawer.

Robot & sensing

Item	Value
Robot type	L0 (see meta/info.json)
Arms	Left and right: 6-DOF joint positions, end-effector pose (6), end-effector scalar (1) per arm
Cameras	cam_left, cam_right, cam_high — RGB video, 640×480, 3 channels
Control rate	10 Hz (fps: 10.0)

Dataset statistics (this sample)

Metric	Count
Episodes	23
Frames (total)	6,058
Video streams (total files)	69 (3 cameras × 23 episodes)
Chunks	1
Split	train: episodes 0:23 (all episodes)

Layout & format

• Schema version: codebase_version v2.1 (meta/info.json).
• Tabular data: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet
• Videos: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4

Per-frame fields include timestamps, frame_index, episode_index, task_index, and the observation features listed under features in meta/info.json.

Metadata files

File	Role
meta/info.json	Global stats, paths, feature dtypes/shapes
meta/tasks.jsonl	task_index → task description
meta/episodes.jsonl	Episode lengths and task labels
meta/episodes_stats.jsonl	Per-episode summary statistics

Usage note

Ensure data/ and videos/ are present alongside meta/ if you load episodes from disk; this repository may ship metadata only in some distributions—check your archive for the full asset bundle.

Citation / naming

When referring to this package, use the dataset name LivDualArm-Grip-Sample and describe it as a drawer-opening dual-arm gripper sample in LeRobot dataset v2.1 layout.