episode_start_ns uint64 1,782,014,149B 1,782,014,251B | global_frame_id unknown | timestamp_ns_since_episode_start uint64 0 83.5B | joints listlengths 8 8 | images listlengths 2 2 | task stringclasses 5
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|---|---|---|---|---|---|
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1,782,014,182,074,202,600 | [
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1,782,014,182,074,202,600 | [
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1,782,014,182,074,202,600 | [
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End of preview. Expand in Data Studio
ElRobot Pick & Place Dataset
Teleoperation demonstrations recorded on NormaCore ElRobot (8-DOF + gripper).
Robot
- NormaCore ElRobot — 7 rotational joints + 1 gripper (8 ST3215 servos)
- Controller: Raspberry Pi 5
- Cameras: 2x USB RGB (224x224)
Dataset Format (NormaCore custom parquet)
One row = one frame. Schema:
| Column | Type | Description |
|---|---|---|
| episode_start_ns | uint64 | Episode identifier |
| timestamp_ns_since_episode_start | uint64 | Per-episode time |
| joints | list | 8 joints: position_norm, goal_norm, range_min, range_max, current_ma, velocity |
| images | list<struct{jpeg:binary}> | 2 embedded JPEG images per frame |
| task | string | Natural language task instruction |
Tasks Recorded
| Task | Episodes | Frames |
|---|---|---|
| push the block forward | 4 | 1,396 |
| pick up the block | 4 | 2,025 |
| pick up the pen | 2 | 1,072 |
| pick up the block and put it down | 1 | 401 |
| pick up the bottle cap | 1 | 205 |
| Total | 12 | 5,099 |
Stats
- Joints: 8 (normalized 0-1)
- Images: 2 per frame (224x224 JPEG)
- Recording: Leader-follower teleoperation via NormaCore Station
Training
uv run python scripts/train_elrobot.py \
--parquets *.parquet \
--base-checkpoint LBST/t01_pick_and_place \
--steps 5000 --batch-size 32
Manual Upload Instructions
- Create a new dataset repo on HuggingFace: https://huggingface.co/new-dataset
- Name it
elrobot-pickplace - Upload all
.parquetfiles into adata/folder - Upload this README.md as the repo README
- Downloads last month
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