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Datasets:
videron
/
lego_pickup_recovery

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
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pandas
Polars
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observation.state
list
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float32
0
24.9
frame_index
int64
0
746
episode_index
int64
0
24
index
int64
0
18.6k
task_index
int64
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End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Description

Environment configuration: Top down camera and gripper camera, overhead light combined with two lights on left and right andgled at 45 degrees, white tabletop with grid mat on it, blue bowl, consistent location of the bowl collected in the morning with room shades open

Multiple other non red bricks are used as confusers

The first grasp is intentionally missed the arm rises up and then sucessfully grasps the brick to teach recovery behavior

Text Instruction: "Put the red lego in the blue bowl"

Record Command: lerobot-record --robot.type=so101_follower --robot.port=/dev/follower --robot.id=videron_follower --teleop.type=so101_leader --teleop.port=/dev/leader --teleop.id=videron_leader --robot.calibration_dir=/Experiments --teleop.calibration_dir=/Experiments --robot.cameras="{desk_cam: {type: opencv, index_or_path: 1, width: 640, height: 480, fps: 30,fourcc: 'MJPG'},gripper: {type: opencv, index_or_path: 0, width: 640, height: 480, fps: 30,fourcc: 'MJPG'}}" --display_data=true --dataset.num_episodes=25 --dataset.single_task="Put the red lego in the blue bowl" --dataset.push_to_hub=True --dataset.repo_id="staudi25/lego_pickup_recovery" --play_sounds False --dataset.episode_time_s 25 --dataset.reset_time_s 10

  • Homepage: [More Information Needed]
  • Paper: [More Information Needed]
  • License: apache-2.0

Dataset Structure

meta/info.json:

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    "codebase_version": "v3.0",
    "robot_type": "so_follower",
    "total_episodes": 25,
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    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
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    "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": {
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}

Citation

BibTeX:

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