Datasets:

robot-lev
/

fmb

@@ -9,241 +9,69 @@ tags:
 - franka
 - force-torque
 - contact-rich
-- LeRobot
-configs:
-- config_name: default
-  data_files: data/*/*.parquet
 ---
-This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
-<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=robot-lev/fmb">
-<img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/>
-<img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>
-</a>
-## Dataset Description
-- **Homepage:** [More Information Needed]
-- **Paper:** [More Information Needed]
-- **License:** cc-by-4.0
-## Dataset Structure
-[meta/info.json](meta/info.json):
-```json
-{
-    "codebase_version": "v3.0",
-    "robot_type": "franka",
-    "total_episodes": 1844,
-    "total_frames": 418495,
-    "total_tasks": 7,
-    "chunks_size": 1000,
-    "data_files_size_in_mb": 100,
-    "video_files_size_in_mb": 200,
-    "fps": 10,
-    "splits": {
-        "train": "0:1844"
-    },
-    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
-    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
-    "features": {
-        "observation.state": {
-            "dtype": "float32",
-            "shape": [
-                28
-            ],
-            "names": null
-        },
-        "observation.state.joint_position": {
-            "dtype": "float32",
-            "shape": [
-                7
-            ],
-            "names": null
-        },
-        "observation.state.ee_pose": {
-            "dtype": "float32",
-            "shape": [
-                7
-            ],
-            "names": null
-        },
-        "observation.state.gripper": {
-            "dtype": "float32",
-            "shape": [
-                1
-            ],
-            "names": null
-        },
-        "observation.force": {
-            "dtype": "float32",
-            "shape": [
-                3
-            ],
-            "names": null
-        },
-        "observation.torque": {
-            "dtype": "float32",
-            "shape": [
-                3
-            ],
-            "names": null
-        },
-        "observation.jacobian": {
-            "dtype": "float32",
-            "shape": [
-                42
-            ],
-            "names": null
-        },
-        "action": {
-            "dtype": "float32",
-            "shape": [
-                7
-            ],
-            "names": null
-        },
-        "observation.images.side_1": {
-            "dtype": "video",
-            "shape": [
-                256,
-                256,
-                3
-            ],
-            "names": [
-                "height",
-                "width",
-                "channels"
-            ],
-            "info": {
-                "video.height": 256,
-                "video.width": 256,
-                "video.codec": "av1",
-                "video.pix_fmt": "yuv420p",
-                "video.is_depth_map": false,
-                "video.fps": 10,
-                "video.channels": 3,
-                "has_audio": false
-            }
-        },
-        "observation.images.side_2": {
-            "dtype": "video",
-            "shape": [
-                256,
-                256,
-                3
-            ],
-            "names": [
-                "height",
-                "width",
-                "channels"
-            ],
-            "info": {
-                "video.height": 256,
-                "video.width": 256,
-                "video.codec": "av1",
-                "video.pix_fmt": "yuv420p",
-                "video.is_depth_map": false,
-                "video.fps": 10,
-                "video.channels": 3,
-                "has_audio": false
-            }
-        },
-        "observation.images.wrist_1": {
-            "dtype": "video",
-            "shape": [
-                256,
-                256,
-                3
-            ],
-            "names": [
-                "height",
-                "width",
-                "channels"
-            ],
-            "info": {
-                "video.height": 256,
-                "video.width": 256,
-                "video.codec": "av1",
-                "video.pix_fmt": "yuv420p",
-                "video.is_depth_map": false,
-                "video.fps": 10,
-                "video.channels": 3,
-                "has_audio": false
-            }
-        },
-        "observation.images.wrist_2": {
-            "dtype": "video",
-            "shape": [
-                256,
-                256,
-                3
-            ],
-            "names": [
-                "height",
-                "width",
-                "channels"
-            ],
-            "info": {
-                "video.height": 256,
-                "video.width": 256,
-                "video.codec": "av1",
-                "video.pix_fmt": "yuv420p",
-                "video.is_depth_map": false,
-                "video.fps": 10,
-                "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
-[More Information Needed]
-```

 - franka
 - force-torque
 - contact-rich
+size_categories:
+- 1M<n<10M
 ---
+# FMB single-object (LeRobot v3)
+A LeRobot Dataset v3 port of the **FMB** (Functional Manipulation Benchmark)
+**single-object manipulation** demonstrations, recorded with a Franka Panda arm.
+> **This is a reformatted derivative**, not the original release. The original data and
+> full documentation are published by the authors:
+> **https://huggingface.co/datasets/charlesxu0124/functional-manipulation-benchmark**
+> Paper: [arXiv:2401.08553](https://arxiv.org/abs/2401.08553) · Project: https://functional-manipulation-benchmark.github.io
+## What this is
+FMB ships one `.npy` per demonstration (4 RGB + 4 depth cameras, proprioception, 6-axis
+end-effector force/torque, a commanded cartesian action, and per-step skill primitives).
+This port converts each single-object demonstration into **one LeRobot episode**, keeping
+the RGB streams, proprioception, force/torque, and action on a uniform frame grid.
+- **Episodes:** 1844
+- **Frames:** 418,495 @ 10 fps
+- **Robot:** Franka Panda
+- **Cameras:** `side_1`, `side_2`, `wrist_1`, `wrist_2` (RGB 256×256)
+- **Per-frame task:** the active skill primitive (e.g. *grasp*, *insert*, *rotate*)
+- **Scope:** single-object subset only (FMB's multi-object subset is not included in this port).
+## Features
+| key | dtype | shape | notes |
+|---|---|---|---|
+| `observation.images.{side_1,side_2,wrist_1,wrist_2}` | video | 256×256×3 | RGB (converted from FMB's BGR) |
+| `observation.state` | float32 | (28,) | joint pos (7) + joint vel (7) + EE pose (7) + EE vel (6) + gripper (1) |
+| `observation.state.joint_position` | float32 | (7,) | |
+| `observation.state.ee_pose` | float32 | (7,) | xyz + quaternion, base frame |
+| `observation.state.gripper` | float32 | (1,) | 0=open, 1=closed |
+| `observation.force` | float32 | (3,) | end-effector force, **EE frame** |
+| `observation.torque` | float32 | (3,) | end-effector torque, **EE frame** |
+| `observation.jacobian` | float32 | (42,) | robot jacobian (6×7), flattened |
+| `action` | float32 | (7,) | commanded cartesian: xyz, rpy, gripper |
+Per-episode object metadata (shape/size/length/color/angle/distractor + `object_info`) is in
+`meta/fmb_episodes.json`.
+## Fidelity notes (please read)
+- **Depth dropped.** FMB's 4 depth maps are **not** included in this port (RGB + F/T + proprio
+  + action only). Use the original dataset if you need depth.
+- **BGR → RGB.** FMB stores images in BGR; they are converted to RGB here.
+- **Action is the FMB commanded action as-is** (no next-pose reconstruction).
+- **fps = 10 is nominal.** The source `.npy` carry no timestamps; frames map 1:1, so `fps`
+  is metadata, not a resampling rate.
 ## Citation
 ```bibtex
+@article{luo2024fmb,
+  title   = {FMB: a Functional Manipulation Benchmark for Generalizable Robotic Learning},
+  author  = {Luo, Jianlan and Xu, Charles and Liu, Fangchen and Tan, Liam and Lin, Zipeng and Wu, Jeffrey and Abbeel, Pieter and Levine, Sergey},
+  journal = {arXiv preprint arXiv:2401.08553},
+  year    = {2024}
+}
+```
+Conversion scripts: https://github.com/lvjonok/fmb-lerobot-port