---
license: mit
task_categories:
- robotics
tags:
- LeRobot
- ecse552
- ocbench
- ur5e
- mujoco
- simulation
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=Autobrik/ecse552-ocbench-source-augmented-sample">
<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

LeRobot copy of `source-deterministic-n300-seed0` from [Autobrik/ecse552-ocbench-block](https://huggingface.co/datasets/Autobrik/ecse552-ocbench-block)
(exact .npz data and full documentation), for the McGill ECSE 552 project *Learning to
Manipulate a New Object from Action-Free Videos*
([code](https://github.com/BrikHMP18/ecse-552-project), commit `41f93cc`).

Scripted-expert episodes in OCBench (UR5e + Robotiq, MuJoCo): object `source` (red 6x6x6 cm cube),
20 episodes, 10 Hz, three 224 x 224 cameras (front, side, wrist), 7 normalized actions (six
joint increments, one gripper increment). Scene `fixed_yaw`, expert `deterministic`.

**Illustration only, not training data.** The first 20 episodes with the image augmentation
of the project's method (e), settings `{'brightness': 0.3, 'contrast': 0.3, 'saturation': 0.3, 'hue': 0.5, 'shift_px': 4}`. Here one random draw per episode (seed =
episode index) is applied to its three cameras; training draws a new one for every sample, so
no fixed dataset reproduces it. Actions and states are unchanged.

`observation.state` (joints) and `observation.environment_state` (object pose) are privileged
simulator state: the project's models use images only. Episode `i` here is
`episode_{i:05d}.npz` in the source collection (seed in its `manifest.json`). Videos are
lossy; train from the .npz copy for exact pixels.

- **Homepage:** [More Information Needed]
- **Paper:** [More Information Needed]
- **License:** mit

## Dataset Structure

[meta/info.json](meta/info.json):
```json
{
    "codebase_version": "v3.0",
    "fps": 10,
    "features": {
        "observation.images.front": {
            "dtype": "video",
            "shape": [
                224,
                224,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 224,
                "video.width": 224,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": 12,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {},
                "is_depth_map": false
            }
        },
        "observation.images.side": {
            "dtype": "video",
            "shape": [
                224,
                224,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 224,
                "video.width": 224,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": 12,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {},
                "is_depth_map": false
            }
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                224,
                224,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 224,
                "video.width": 224,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": 12,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {},
                "is_depth_map": false
            }
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "shoulder_pan",
                "shoulder_lift",
                "elbow",
                "wrist_1",
                "wrist_2",
                "wrist_3",
                "gripper_driver"
            ]
        },
        "observation.environment_state": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "object_x",
                "object_y",
                "object_z",
                "object_qw",
                "object_qx",
                "object_qy",
                "object_qz"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "d_shoulder_pan",
                "d_shoulder_lift",
                "d_elbow",
                "d_wrist_1",
                "d_wrist_2",
                "d_wrist_3",
                "d_gripper"
            ]
        },
        "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
        }
    },
    "total_episodes": 20,
    "total_frames": 1602,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "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",
    "robot_type": "ur5e_robotiq",
    "splits": {
        "train": "0:20"
    }
}
```


## Citation

**BibTeX:**

```bibtex
[More Information Needed]
```