Upload dataset

README.md

@@ -0,0 +1,121 @@
+---
+license: cc-by-4.0
+task_categories:
+- robotics
+tags:
+- LeRobot
+- dexterous-manipulation
+- point-cloud
+- xarm7
+- leap-hand
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+<div align="center">
+
+# DexMulti: Grasp + Pull
+
+[![Website](https://img.shields.io/badge/Project-Website-1f6feb?style=for-the-badge&logo=githubpages&logoColor=white)](https://dexmulti.github.io/)
+[![Paper](https://img.shields.io/badge/arXiv-2603.11655-b31b1b?style=for-the-badge&logo=arxiv&logoColor=white)](https://arxiv.org/abs/2603.11655)
+[![Code](https://img.shields.io/badge/Code-GitHub-181717?style=for-the-badge&logo=github&logoColor=white)](https://github.com/Msornerrrr/dexmulti)
+
+<video src="https://huggingface.co/datasets/HJ666/dexmulti_grasp_pull/resolve/main/media/demo.mp4" controls autoplay loop muted playsinline width="100%"></video>
+
+<sub>One teleoperated demonstration: the two RGB cameras (left); the robot, the segmented object clouds with hand contact, and the end-effector path coloured by skill (right).</sub>
+
+</div>
+
+Teleoperated demonstrations of the **Grasp + Pull** task (paper: main experiments): 38 demonstrations, the complete training set used for the paper's experiments.
+
+Paper: *Concurrent Prehensile and Nonprehensile Manipulation: A Practical Approach to Multi-Stage Dexterous Tasks*
+(IROS 2026, [arXiv:2603.11655](https://arxiv.org/abs/2603.11655)). Code: <https://github.com/Msornerrrr/dexmulti>. Full documentation (conventions, loading without LeRobot, npz conversion): <https://github.com/Msornerrrr/dexmulti/blob/main/docs/dataset.md>.
+
+**Task:** Grasp an object from the table, pull open a drawer by its handle, and place the object in the drawer.
+
+| | |
+|---|---|
+| robot | xArm7 arm + LEAP Hand (right), teleoperated with DexCap |
+| cameras | 2x Intel RealSense L515 (RGB 640x480) |
+| episodes / frames | 38 / 8840 (length 187–330, mean 232.6) |
+| rate | 10 Hz |
+| format | LeRobot v3.0, videos H.264 (yuv420p) |
+
+## Features
+
+| feature | shape | description |
+|---|---|---|
+| `observation.images.cam1`, `observation.images.cam2` | 480x640x3 video | RGB of the two cameras |
+| `observation.state` | (29,) float32 | see below |
+| `action` | (22,) float32 | see below |
+| `observation.pointcloud.object` | (512, 3) float32 | segmented point cloud of the first (grasped) object, robot base frame [m] |
+| `observation.pointcloud.drawer` | (512, 3) float32 | segmented point cloud of the drawer (key name kept from the code base) |
+| `observation.pointcloud.hand` | (512, 3) float32 | points on the LEAP Hand surface from forward kinematics |
+| `observation.contact.object`, `observation.contact.drawer` | (512, 1) float32 | per-point hand contact score in [0, 1] of the matching cloud |
+| `observation.skill` | int64 | 0: not in a skill (approach / transition), 1: skill 1 (first object), 2: skill 2 (the drawer) |
+| `task` | string | language instruction (one per dataset) |
+
+`observation.state`:
+
+| index | source key | meaning |
+|---|---|---|
+| 0–5 | `eef_pose` | measured end-effector pose: x, y, z [m], roll, pitch, yaw [rad] (scipy Euler `xyz`) |
+| 6–12 | `arm_state` | xArm7 joint positions [rad] |
+| 13–28 | `hand_state` | LEAP Hand joint positions [rad] (LEAP ROS order: 4 per finger, thumb last) |
+
+`action` (what the robot was commanded at this step, 10 Hz):
+
+| index | source key | meaning |
+|---|---|---|
+| 0–5 | `arm_cmd` | commanded end-effector pose: x, y, z [m], roll, pitch, yaw [rad] |
+| 6–21 | `hand_cmd` | LEAP Hand joint commands [rad] |
+
+Element names are in `meta/info.json`.
+
+## Frames and conventions
+
+- All poses and point clouds are in the xArm7 base frame (`link_base`), metres. Orientations are scipy Euler
+  `"xyz"` angles in radians; roll is near ±π, so its plot wraps.
+- Point clouds come from the two depth cameras (fused, segmented, 512 points per object) and are the inputs used by
+  DexMulti. Depth images and masks are not included.
+- `observation.skill` is derived from the skill keyframes (`task1_start..task1_end` = 1,
+  `task2_start..task2_end` = 2, inclusive).
+- `timestamp` is `frame_index / 10`; the original wall-clock times are in `dexmulti/episodes.json`.
+
+## DexMulti extras (`dexmulti/`)
+
+Not part of the LeRobot schema; used by the DexMulti code base:
+
+- `episodes.json`: per `episode_index` the original recording name, length, source set and wall-clock times.
+- `keyframes/<episode>.json`: skill keyframes as used to build the library.
+- `library/dual_task_policy_chamfer.npz`: the skill library built from these demonstrations, exactly as run on the robot (pickle-free format, load with `dexmulti.library.load_library`).
+- `keyframe_overlaps.json`: recordings whose two keyframe ranges overlap, with the resulting `observation.skill` runs.
+- `cameras.json`: intrinsics (fx, fy, cx, cy) and extrinsics `T_base_cam` (camera optical frame to robot base) of
+  both cameras; constant for the whole dataset.
+
+Load as DexMulti episodes (no `lerobot` or `torch` needed):
+
+```python
+from dexmulti.data.lerobot import LeRobotEpisodes
+ds = LeRobotEpisodes("<path or repo id>")
+ep = ds.episode(0)          # dict: keys of dexmulti/data/episode.py + skill
+kf = ds.keyframes(0)        # task1_start, task1_end, task2_start, task2_end
+```
+
+or with LeRobot: `LeRobotDataset("HJ666/dexmulti_grasp_pull")`.
+
+## Citation
+
+```bibtex
+@inproceedings{jiang2026concurrent,
+  title     = {Concurrent Prehensile and Nonprehensile Manipulation: A Practical Approach to Multi-Stage Dexterous Tasks},
+  author    = {Jiang, Hao and Wu, Yue and Wang, Yue and Sukhatme, Gaurav S. and Seita, Daniel},
+  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
+  year      = {2026}
+}
+```
+
+## License
+
+[CC-BY-4.0](https://creativecommons.org/licenses/by/4.0/). Please cite the paper when using the data.

data/chunk-000/file-000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfe9261a3dc3bc76d6e1792ca6b1b7958fe2f367f6c2daf5dd024fa7950e02a4
+size 102104329

data/chunk-000/file-001.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b690c19df97c1e0154df250f66bd59e7a7248f71ad0d756a53bf07ba69131ca0
+size 101719547

data/chunk-000/file-002.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4960e83ec22341565eac09c2c1d1a5f2d8e63fbb358535e408d10d01ea263cfb
+size 68379582

dexmulti/cameras.json

@@ -0,0 +1,71 @@
+{
+ "convention": "fx_fy_cx_cy: pinhole intrinsics of the 640x480 color image; T_base_cam: 4x4 transform mapping points from the camera optical frame (OpenCV: x right, y down, z forward) to the robot base frame. Constant over all frames and episodes of this dataset.",
+ "cam1": {
+  "fx_fy_cx_cy": [
+   597.2525634765625,
+   597.4514770507812,
+   328.7528076171875,
+   244.22544860839844
+  ],
+  "T_base_cam": [
+   [
+    0.9603833556175232,
+    -0.16462299227714539,
+    0.22486238181591034,
+    0.18235638737678528
+   ],
+   [
+    -0.2771751284599304,
+    -0.4804461598396301,
+    0.8320729732513428,
+    -0.7760321497917175
+   ],
+   [
+    -0.028944076970219612,
+    -0.8614352941513062,
+    -0.507041871547699,
+    0.47138991951942444
+   ],
+   [
+    0.0,
+    0.0,
+    0.0,
+    1.0
+   ]
+  ]
+ },
+ "cam2": {
+  "fx_fy_cx_cy": [
+   601.3878173828125,
+   601.7159423828125,
+   333.2942199707031,
+   245.56826782226562
+  ],
+  "T_base_cam": [
+   [
+    -0.9617871642112732,
+    0.2029283493757248,
+    -0.18380846083164215,
+    0.5361539125442505
+   ],
+   [
+    0.2541901469230652,
+    0.4123094379901886,
+    -0.8748647570610046,
+    0.6881464719772339
+   ],
+   [
+    -0.10174888372421265,
+    -0.8881559371948242,
+    -0.4481362998485565,
+    0.4329851269721985
+   ],
+   [
+    0.0,
+    0.0,
+    0.0,
+    1.0
+   ]
+  ]
+ }
+}

dexmulti/keyframe_overlaps.json

@@ -0,0 +1 @@
+[]

dexmulti/keyframes/session_20251227_221756.json

@@ -0,0 +1,14 @@
+{
+ "episode": "session_20251227_221756",
+ "task1_start": 44,
+ "task1_end": 85,
+ "task1_dist_thr": 0.05913574814796449,
+ "task1_radius_est": 0.04548903703689576,
+ "task1_lift_dz": 0.022830530405044555,
+ "task1_contact_key": "fused_segmented_point_cloud_base_object_to_hand_point_cloud_base_contact_map",
+ "task2_start": 99,
+ "task2_end": 210,
+ "task2_dist_thr": 0.14405936025083066,
+ "task2_radius_est": 0.11081489250063896,
+ "task2_contact_key": "fused_segmented_point_cloud_base_drawer_to_hand_point_cloud_base_contact_map"
+}

dexmulti/keyframes/session_20251227_223609.json

@@ -0,0 +1,14 @@
+{
+ "episode": "session_20251227_223609",
+ "task1_start": 48,
+ "task1_end": 79,
+ "task1_dist_thr": 0.06029762320220471,
+ "task1_radius_est": 0.04638278707861901,
+ "task1_lift_dz": 0.02,
+ "task1_contact_key": "fused_segmented_point_cloud_base_object_to_hand_point_cloud_base_contact_map",
+ "task2_start": 104,
+ "task2_end": 215,
+ "task2_dist_thr": 0.15,
+ "task2_radius_est": 0.11593236103653907,
+ "task2_contact_key": "fused_segmented_point_cloud_base_drawer_to_hand_point_cloud_base_contact_map"
+}

dexmulti/keyframes/session_20251227_223656.json

@@ -0,0 +1,14 @@
+{
+ "episode": "session_20251227_223656",
+ "task1_start": 49,
+ "task1_end": 79,
+ "task1_dist_thr": 0.06353824429214003,
+ "task1_radius_est": 0.0488755725324154,
+ "task1_lift_dz": 0.025171288847923277,
+ "task1_contact_key": "fused_segmented_point_cloud_base_object_to_hand_point_cloud_base_contact_map",
+ "task2_start": 120,
+ "task2_end": 232,
+ "task2_dist_thr": 0.15,
+ "task2_radius_est": 0.12175728902220727,
+ "task2_contact_key": "fused_segmented_point_cloud_base_drawer_to_hand_point_cloud_base_contact_map"
+}

dexmulti/keyframes/session_20251227_223756.json

@@ -0,0 +1,14 @@
+{
+ "episode": "session_20251227_223756",
+ "task1_start": 52,
+ "task1_end": 80,
+ "task1_dist_thr": 0.061524263024330145,
+ "task1_radius_est": 0.047326356172561646,
+ "task1_lift_dz": 0.02545316755771637,
+ "task1_contact_key": "fused_segmented_point_cloud_base_object_to_hand_point_cloud_base_contact_map",
+ "task2_start": 93,
+ "task2_end": 214,
+ "task2_dist_thr": 0.14261712037026883,
+ "task2_radius_est": 0.1097054772078991,
+ "task2_contact_key": "fused_segmented_point_cloud_base_drawer_to_hand_point_cloud_base_contact_map"
+}

dexmulti/keyframes/session_20251227_223850.json

@@ -0,0 +1,14 @@
+{
+ "episode": "session_20251227_223850",
+ "task1_start": 45,
+ "task1_end": 81,
+ "task1_dist_thr": 0.07326168391853571,
+ "task1_radius_est": 0.056355141475796705,
+ "task1_lift_dz": 0.02,
+ "task1_contact_key": "fused_segmented_point_cloud_base_object_to_hand_point_cloud_base_contact_map",
+ "task2_start": 98,
+ "task2_end": 210,
+ "task2_dist_thr": 0.15,
+ "task2_radius_est": 0.11586535647511483,
+ "task2_contact_key": "fused_segmented_point_cloud_base_drawer_to_hand_point_cloud_base_contact_map"
+}

dexmulti/keyframes/session_20251227_223943.json

@@ -0,0 +1,14 @@
+{
+ "episode": "session_20251227_223943",
+ "task1_start": 41,
+ "task1_end": 83,
+ "task1_dist_thr": 0.07289270993322135,
+ "task1_radius_est": 0.05607131533324718,
+ "task1_lift_dz": 0.025830092579126353,
+ "task1_contact_key": "fused_segmented_point_cloud_base_object_to_hand_point_cloud_base_contact_map",
+ "task2_start": 104,
+ "task2_end": 220,
+ "task2_dist_thr": 0.14854213193058968,
+ "task2_radius_est": 0.11426317840814591,
+ "task2_contact_key": "fused_segmented_point_cloud_base_drawer_to_hand_point_cloud_base_contact_map"
+}

dexmulti/keyframes/session_20251227_224039.json

@@ -0,0 +1,14 @@
+{
+ "episode": "session_20251227_224039",
+ "task1_start": 36,
+ "task1_end": 75,
+ "task1_dist_thr": 0.06900782197713852,
+ "task1_radius_est": 0.05308293998241424,
+ "task1_lift_dz": 0.02,
+ "task1_contact_key": "fused_segmented_point_cloud_base_object_to_hand_point_cloud_base_contact_map",
+ "task2_start": 101,
+ "task2_end": 201,
+ "task2_dist_thr": 0.1443620652705431,
+ "task2_radius_est": 0.11104774251580238,
+ "task2_contact_key": "fused_segmented_point_cloud_base_drawer_to_hand_point_cloud_base_contact_map"
+}

dexmulti/keyframes/session_20251227_224128.json

@@ -0,0 +1,14 @@
+{
+ "episode": "session_20251227_224128",
+ "task1_start": 57,
+ "task1_end": 97,
+ "task1_dist_thr": 0.07060328274965288,
+ "task1_radius_est": 0.054310217499732985,
+ "task1_lift_dz": 0.02460641250014305,
+ "task1_contact_key": "fused_segmented_point_cloud_base_object_to_hand_point_cloud_base_contact_map",
+ "task2_start": 133,
+ "task2_end": 257,
+ "task2_dist_thr": 0.14544630996882915,
+ "task2_radius_est": 0.11188177689909935,
+ "task2_contact_key": "fused_segmented_point_cloud_base_drawer_to_hand_point_cloud_base_contact_map"
+}

dexmulti/keyframes/session_20251227_224249.json

@@ -0,0 +1,14 @@
+{
+ "episode": "session_20251227_224249",
+ "task1_start": 40,
+ "task1_end": 90,
+ "task1_dist_thr": 0.06016693573445082,
+ "task1_radius_est": 0.04628225825726986,
+ "task1_lift_dz": 0.02,
+ "task1_contact_key": "fused_segmented_point_cloud_base_object_to_hand_point_cloud_base_contact_map",
+ "task2_start": 96,
+ "task2_end": 220,
+ "task2_dist_thr": 0.15,
+ "task2_radius_est": 0.11995034143328667,
+ "task2_contact_key": "fused_segmented_point_cloud_base_drawer_to_hand_point_cloud_base_contact_map"
+}

dexmulti/keyframes/session_20251227_224349.json

@@ -0,0 +1,14 @@
+{
+ "episode": "session_20251227_224349",
+ "task1_start": 40,
+ "task1_end": 85,
+ "task1_dist_thr": 0.07273897133767607,
+ "task1_radius_est": 0.05595305487513543,
+ "task1_lift_dz": 0.02,
+ "task1_contact_key": "fused_segmented_point_cloud_base_object_to_hand_point_cloud_base_contact_map",
+ "task2_start": 104,
+ "task2_end": 222,
+ "task2_dist_thr": 0.14668498240411282,
+ "task2_radius_est": 0.11283460184931755,
+ "task2_contact_key": "fused_segmented_point_cloud_base_drawer_to_hand_point_cloud_base_contact_map"
+}

dexmulti/keyframes/session_20251227_224424.json

@@ -0,0 +1,14 @@
+{
+ "episode": "session_20251227_224424",
+ "task1_start": 48,
+ "task1_end": 89,
+ "task1_dist_thr": 0.06497378405183554,
+ "task1_radius_est": 0.049979833886027336,
+ "task1_lift_dz": 0.02,
+ "task1_contact_key": "fused_segmented_point_cloud_base_object_to_hand_point_cloud_base_contact_map",
+ "task2_start": 123,
+ "task2_end": 235,
+ "task2_dist_thr": 0.14650267809629441,
+ "task2_radius_est": 0.11269436776638031,
+ "task2_contact_key": "fused_segmented_point_cloud_base_drawer_to_hand_point_cloud_base_contact_map"
+}

dexmulti/keyframes/session_20251227_224502.json

@@ -0,0 +1,14 @@
+{
+ "episode": "session_20251227_224502",
+ "task1_start": 52,
+ "task1_end": 89,
+ "task1_dist_thr": 0.06428517531603575,
+ "task1_radius_est": 0.04945013485848904,
+ "task1_lift_dz": 0.02,
+ "task1_contact_key": "fused_segmented_point_cloud_base_object_to_hand_point_cloud_base_contact_map",
+ "task2_start": 98,
+ "task2_end": 197,
+ "task2_dist_thr": 0.15,
+ "task2_radius_est": 0.11539455130696297,
+ "task2_contact_key": "fused_segmented_point_cloud_base_drawer_to_hand_point_cloud_base_contact_map"
+}

dexmulti/keyframes/session_20251227_224554.json

@@ -0,0 +1,14 @@
+{
+ "episode": "session_20251227_224554",
+ "task1_start": 40,
+ "task1_end": 79,
+ "task1_dist_thr": 0.0916364174336195,
+ "task1_radius_est": 0.070489551872015,
+ "task1_lift_dz": 0.021886330693960187,
+ "task1_contact_key": "fused_segmented_point_cloud_base_object_to_hand_point_cloud_base_contact_map",
+ "task2_start": 99,
+ "task2_end": 210,
+ "task2_dist_thr": 0.15,
+ "task2_radius_est": 0.12009885013103486,
+ "task2_contact_key": "fused_segmented_point_cloud_base_drawer_to_hand_point_cloud_base_contact_map"
+}

dexmulti/keyframes/session_20251227_224727.json

@@ -0,0 +1,14 @@
+{
+ "episode": "session_20251227_224727",
+ "task1_start": 37,
+ "task1_end": 77,
+ "task1_dist_thr": 0.08902082003653052,
+ "task1_radius_est": 0.06847755387425424,
+ "task1_lift_dz": 0.021471283882856365,
+ "task1_contact_key": "fused_segmented_point_cloud_base_object_to_hand_point_cloud_base_contact_map",
+ "task2_start": 101,
+ "task2_end": 205,
+ "task2_dist_thr": 0.14220999613404275,
+ "task2_radius_est": 0.10939230471849443,
+ "task2_contact_key": "fused_segmented_point_cloud_base_drawer_to_hand_point_cloud_base_contact_map"
+}

dexmulti/keyframes/session_20251227_224926.json

@@ -0,0 +1,14 @@
+{
+ "episode": "session_20251227_224926",
+ "task1_start": 36,
+ "task1_end": 70,
+ "task1_dist_thr": 0.08788212105631829,
+ "task1_radius_est": 0.0676016315817833,
+ "task1_lift_dz": 0.022211283445358276,
+ "task1_contact_key": "fused_segmented_point_cloud_base_object_to_hand_point_cloud_base_contact_map",
+ "task2_start": 97,
+ "task2_end": 194,
+ "task2_dist_thr": 0.15,
+ "task2_radius_est": 0.11844145953655243,
+ "task2_contact_key": "fused_segmented_point_cloud_base_drawer_to_hand_point_cloud_base_contact_map"
+}

dexmulti/keyframes/session_20251227_224959.json

@@ -0,0 +1,14 @@
+{
+ "episode": "session_20251227_224959",
+ "task1_start": 36,
+ "task1_end": 66,
+ "task1_dist_thr": 0.0857450493425131,
+ "task1_radius_est": 0.06595773026347161,
+ "task1_lift_dz": 0.03587972626090049,
+ "task1_contact_key": "fused_segmented_point_cloud_base_object_to_hand_point_cloud_base_contact_map",
+ "task2_start": 81,
+ "task2_end": 210,
+ "task2_dist_thr": 0.14581090793013574,
+ "task2_radius_est": 0.11216223686933517,
+ "task2_contact_key": "fused_segmented_point_cloud_base_drawer_to_hand_point_cloud_base_contact_map"
+}

dexmulti/keyframes/session_20251227_225049.json

@@ -0,0 +1,14 @@
+{
+ "episode": "session_20251227_225049",
+ "task1_start": 41,
+ "task1_end": 73,
+ "task1_dist_thr": 0.11262598559260369,
+ "task1_radius_est": 0.08663537353277206,
+ "task1_lift_dz": 0.02,
+ "task1_contact_key": "fused_segmented_point_cloud_base_object_to_hand_point_cloud_base_contact_map",
+ "task2_start": 75,
+ "task2_end": 186,
+ "task2_dist_thr": 0.15,
+ "task2_radius_est": 0.11786396205425262,
+ "task2_contact_key": "fused_segmented_point_cloud_base_drawer_to_hand_point_cloud_base_contact_map"
+}

dexmulti/keyframes/session_20251227_225123.json

@@ -0,0 +1,14 @@
+{
+ "episode": "session_20251227_225123",
+ "task1_start": 55,
+ "task1_end": 106,
+ "task1_dist_thr": 0.10359035126864911,
+ "task1_radius_est": 0.07968488559126854,
+ "task1_lift_dz": 0.02,
+ "task1_contact_key": "fused_segmented_point_cloud_base_object_to_hand_point_cloud_base_contact_map",
+ "task2_start": 149,
+ "task2_end": 266,
+ "task2_dist_thr": 0.14306585945189002,
+ "task2_radius_est": 0.11005066111683846,
+ "task2_contact_key": "fused_segmented_point_cloud_base_drawer_to_hand_point_cloud_base_contact_map"
+}

dexmulti/keyframes/session_20251227_225251.json

@@ -0,0 +1,14 @@
+{
+ "episode": "session_20251227_225251",
+ "task1_start": 34,
+ "task1_end": 75,
+ "task1_dist_thr": 0.12177981518208984,
+ "task1_radius_est": 0.09367678090929987,
+ "task1_lift_dz": 0.02,
+ "task1_contact_key": "fused_segmented_point_cloud_base_object_to_hand_point_cloud_base_contact_map",
+ "task2_start": 86,
+ "task2_end": 207,
+ "task2_dist_thr": 0.1495648120343685,
+ "task2_radius_est": 0.1150498554110527,
+ "task2_contact_key": "fused_segmented_point_cloud_base_drawer_to_hand_point_cloud_base_contact_map"
+}

dexmulti/keyframes/session_20251227_225328.json

@@ -0,0 +1,14 @@
+{
+ "episode": "session_20251227_225328",
+ "task1_start": 42,
+ "task1_end": 91,
+ "task1_dist_thr": 0.10317571476101876,
+ "task1_radius_est": 0.07936593443155289,
+ "task1_lift_dz": 0.02,
+ "task1_contact_key": "fused_segmented_point_cloud_base_object_to_hand_point_cloud_base_contact_map",
+ "task2_start": 133,
+ "task2_end": 246,
+ "task2_dist_thr": 0.15,
+ "task2_radius_est": 0.11676717549562457,
+ "task2_contact_key": "fused_segmented_point_cloud_base_drawer_to_hand_point_cloud_base_contact_map"
+}

dexmulti/keyframes/session_20251227_225431.json

@@ -0,0 +1,14 @@
+{
+ "episode": "session_20251227_225431",
+ "task1_start": 40,
+ "task1_end": 94,
+ "task1_dist_thr": 0.1038596646487713,
+ "task1_radius_est": 0.07989204972982408,
+ "task1_lift_dz": 0.02,
+ "task1_contact_key": "fused_segmented_point_cloud_base_object_to_hand_point_cloud_base_contact_map",
+ "task2_start": 122,
+ "task2_end": 248,
+ "task2_dist_thr": 0.14543731093406678,
+ "task2_radius_est": 0.11187485456466675,
+ "task2_contact_key": "fused_segmented_point_cloud_base_drawer_to_hand_point_cloud_base_contact_map"
+}

dexmulti/keyframes/session_20251227_225530.json

@@ -0,0 +1,14 @@
+{
+ "episode": "session_20251227_225530",
+ "task1_start": 66,
+ "task1_end": 130,
+ "task1_dist_thr": 0.10922892309725285,
+ "task1_radius_est": 0.08402224853634835,
+ "task1_lift_dz": 0.02,
+ "task1_contact_key": "fused_segmented_point_cloud_base_object_to_hand_point_cloud_base_contact_map",
+ "task2_start": 161,
+ "task2_end": 286,
+ "task2_dist_thr": 0.14790754355490207,
+ "task2_radius_est": 0.11377503350377083,
+ "task2_contact_key": "fused_segmented_point_cloud_base_drawer_to_hand_point_cloud_base_contact_map"
+}

dexmulti/keyframes/session_20251227_225610.json

@@ -0,0 +1,14 @@
+{
+ "episode": "session_20251227_225610",
+ "task1_start": 65,
+ "task1_end": 112,
+ "task1_dist_thr": 0.10879173330962659,
+ "task1_radius_est": 0.08368594869971276,
+ "task1_lift_dz": 0.02,
+ "task1_contact_key": "fused_segmented_point_cloud_base_object_to_hand_point_cloud_base_contact_map",
+ "task2_start": 145,
+ "task2_end": 266,
+ "task2_dist_thr": 0.1465232525765896,
+ "task2_radius_est": 0.1127101942896843,
+ "task2_contact_key": "fused_segmented_point_cloud_base_drawer_to_hand_point_cloud_base_contact_map"
+}

dexmulti/keyframes/session_20251227_225649.json

@@ -0,0 +1,14 @@
+{
+ "episode": "session_20251227_225649",
+ "task1_start": 49,
+ "task1_end": 115,
+ "task1_dist_thr": 0.1323465406894684,
+ "task1_radius_est": 0.10180503129959109,
+ "task1_lift_dz": 0.04666304290294647,
+ "task1_contact_key": "fused_segmented_point_cloud_base_object_to_hand_point_cloud_base_contact_map",
+ "task2_start": 139,
+ "task2_end": 268,
+ "task2_dist_thr": 0.15,
+ "task2_radius_est": 0.11975128203630447,
+ "task2_contact_key": "fused_segmented_point_cloud_base_drawer_to_hand_point_cloud_base_contact_map"
+}

dexmulti/keyframes/session_20251227_225923.json

@@ -0,0 +1,14 @@
+{
+ "episode": "session_20251227_225923",
+ "task1_start": 43,
+ "task1_end": 71,
+ "task1_dist_thr": 0.04380120888352394,
+ "task1_radius_est": 0.03369323760271072,
+ "task1_lift_dz": 0.02,
+ "task1_contact_key": "fused_segmented_point_cloud_base_object_to_hand_point_cloud_base_contact_map",
+ "task2_start": 90,
+ "task2_end": 191,
+ "task2_dist_thr": 0.1447219917923212,
+ "task2_radius_est": 0.11132460907101631,
+ "task2_contact_key": "fused_segmented_point_cloud_base_drawer_to_hand_point_cloud_base_contact_map"
+}

dexmulti/keyframes/session_20251227_230010.json

@@ -0,0 +1,14 @@
+{
+ "episode": "session_20251227_230010",
+ "task1_start": 55,
+ "task1_end": 91,
+ "task1_dist_thr": 0.044225080274045474,
+ "task1_radius_est": 0.034019292518496516,
+ "task1_lift_dz": 0.02,
+ "task1_contact_key": "fused_segmented_point_cloud_base_object_to_hand_point_cloud_base_contact_map",
+ "task2_start": 122,
+ "task2_end": 229,
+ "task2_dist_thr": 0.1468361470103264,
+ "task2_radius_est": 0.11295088231563569,
+ "task2_contact_key": "fused_segmented_point_cloud_base_drawer_to_hand_point_cloud_base_contact_map"
+}

dexmulti/keyframes/session_20251227_230107.json

@@ -0,0 +1,14 @@
+{
+ "episode": "session_20251227_230107",
+ "task1_start": 55,
+ "task1_end": 96,
+ "task1_dist_thr": 0.04967755436897279,
+ "task1_radius_est": 0.038213503360748295,
+ "task1_lift_dz": 0.02,
+ "task1_contact_key": "fused_segmented_point_cloud_base_object_to_hand_point_cloud_base_contact_map",
+ "task2_start": 114,
+ "task2_end": 230,
+ "task2_dist_thr": 0.14600626282393933,
+ "task2_radius_est": 0.11231250986456871,
+ "task2_contact_key": "fused_segmented_point_cloud_base_drawer_to_hand_point_cloud_base_contact_map"
+}

dexmulti/keyframes/session_20251227_230145.json

@@ -0,0 +1,14 @@
+{
+ "episode": "session_20251227_230145",
+ "task1_start": 43,
+ "task1_end": 79,
+ "task1_dist_thr": 0.04598490927368404,
+ "task1_radius_est": 0.035373007133603106,
+ "task1_lift_dz": 0.02,
+ "task1_contact_key": "fused_segmented_point_cloud_base_object_to_hand_point_cloud_base_contact_map",
+ "task2_start": 123,
+ "task2_end": 244,
+ "task2_dist_thr": 0.14518450789153578,
+ "task2_radius_est": 0.11168039068579674,
+ "task2_contact_key": "fused_segmented_point_cloud_base_drawer_to_hand_point_cloud_base_contact_map"
+}

dexmulti/keyframes/session_20251227_230441.json

@@ -0,0 +1,14 @@
+{
+ "episode": "session_20251227_230441",
+ "task1_start": 69,
+ "task1_end": 93,
+ "task1_dist_thr": 0.03144558912143112,
+ "task1_radius_est": 0.02418891470879317,
+ "task1_lift_dz": 0.02,
+ "task1_contact_key": "fused_segmented_point_cloud_base_object_to_hand_point_cloud_base_contact_map",
+ "task2_start": 128,
+ "task2_end": 239,
+ "task2_dist_thr": 0.14475728183984757,
+ "task2_radius_est": 0.1113517552614212,
+ "task2_contact_key": "fused_segmented_point_cloud_base_drawer_to_hand_point_cloud_base_contact_map"
+}

dexmulti/keyframes/session_20251227_230750.json

@@ -0,0 +1,14 @@
+{
+ "episode": "session_20251227_230750",
+ "task1_start": 38,
+ "task1_end": 70,
+ "task1_dist_thr": 0.034257903471589086,
+ "task1_radius_est": 0.026352233439683913,
+ "task1_lift_dz": 0.02,
+ "task1_contact_key": "fused_segmented_point_cloud_base_object_to_hand_point_cloud_base_contact_map",
+ "task2_start": 105,
+ "task2_end": 201,
+ "task2_dist_thr": 0.14729739233851433,
+ "task2_radius_est": 0.1133056864142418,
+ "task2_contact_key": "fused_segmented_point_cloud_base_drawer_to_hand_point_cloud_base_contact_map"
+}

dexmulti/keyframes/session_20251227_231126.json

@@ -0,0 +1,14 @@
+{
+ "episode": "session_20251227_231126",
+ "task1_start": 24,
+ "task1_end": 66,
+ "task1_dist_thr": 0.15,
+ "task1_radius_est": 0.12123440355062486,
+ "task1_lift_dz": 0.022785107642412185,
+ "task1_contact_key": "fused_segmented_point_cloud_base_object_to_hand_point_cloud_base_contact_map",
+ "task2_start": 84,
+ "task2_end": 209,
+ "task2_dist_thr": 0.15,
+ "task2_radius_est": 0.11957719698548318,
+ "task2_contact_key": "fused_segmented_point_cloud_base_drawer_to_hand_point_cloud_base_contact_map"
+}

dexmulti/keyframes/session_20251227_231211.json

@@ -0,0 +1,14 @@
+{
+ "episode": "session_20251227_231211",
+ "task1_start": 50,
+ "task1_end": 95,
+ "task1_dist_thr": 0.14711107328534126,
+ "task1_radius_est": 0.11316236406564713,
+ "task1_lift_dz": 0.02,
+ "task1_contact_key": "fused_segmented_point_cloud_base_object_to_hand_point_cloud_base_contact_map",
+ "task2_start": 144,
+ "task2_end": 268,
+ "task2_dist_thr": 0.15,
+ "task2_radius_est": 0.12892943024635314,
+ "task2_contact_key": "fused_segmented_point_cloud_base_drawer_to_hand_point_cloud_base_contact_map"
+}

dexmulti/keyframes/session_20251227_231321.json

@@ -0,0 +1,14 @@
+{
+ "episode": "session_20251227_231321",
+ "task1_start": 33,
+ "task1_end": 72,
+ "task1_dist_thr": 0.15,
+ "task1_radius_est": 0.12430805265903473,
+ "task1_lift_dz": 0.020775586366653442,
+ "task1_contact_key": "fused_segmented_point_cloud_base_object_to_hand_point_cloud_base_contact_map",
+ "task2_start": 85,
+ "task2_end": 216,
+ "task2_dist_thr": 0.1458034886419773,
+ "task2_radius_est": 0.11215652972459793,
+ "task2_contact_key": "fused_segmented_point_cloud_base_drawer_to_hand_point_cloud_base_contact_map"
+}

dexmulti/keyframes/session_20251227_231501.json

@@ -0,0 +1,14 @@
+{
+ "episode": "session_20251227_231501",
+ "task1_start": 51,
+ "task1_end": 151,
+ "task1_dist_thr": 0.15,
+ "task1_radius_est": 0.12213992774486543,
+ "task1_lift_dz": 0.05,
+ "task1_contact_key": "fused_segmented_point_cloud_base_object_to_hand_point_cloud_base_contact_map",
+ "task2_start": 188,
+ "task2_end": 329,
+ "task2_dist_thr": 0.15,
+ "task2_radius_est": 0.1185442976653576,
+ "task2_contact_key": "fused_segmented_point_cloud_base_drawer_to_hand_point_cloud_base_contact_map"
+}

dexmulti/keyframes/session_20251227_231602.json

@@ -0,0 +1,14 @@
+{
+ "episode": "session_20251227_231602",
+ "task1_start": 27,
+ "task1_end": 80,
+ "task1_dist_thr": 0.14624071814119818,
+ "task1_radius_est": 0.11249286010861398,
+ "task1_lift_dz": 0.024344185441732405,
+ "task1_contact_key": "fused_segmented_point_cloud_base_object_to_hand_point_cloud_base_contact_map",
+ "task2_start": 108,
+ "task2_end": 211,
+ "task2_dist_thr": 0.147449309527874,
+ "task2_radius_est": 0.1134225457906723,
+ "task2_contact_key": "fused_segmented_point_cloud_base_drawer_to_hand_point_cloud_base_contact_map"
+}

dexmulti/keyframes/session_20251227_231638.json

@@ -0,0 +1,14 @@
+{
+ "episode": "session_20251227_231638",
+ "task1_start": 53,
+ "task1_end": 105,
+ "task1_dist_thr": 0.15,
+ "task1_radius_est": 0.12830230444669727,
+ "task1_lift_dz": 0.02568597927689552,
+ "task1_contact_key": "fused_segmented_point_cloud_base_object_to_hand_point_cloud_base_contact_map",
+ "task2_start": 133,
+ "task2_end": 278,
+ "task2_dist_thr": 0.15,
+ "task2_radius_est": 0.1200624592602253,
+ "task2_contact_key": "fused_segmented_point_cloud_base_drawer_to_hand_point_cloud_base_contact_map"
+}

dexmulti/keyframes/session_20251227_231719.json

@@ -0,0 +1,14 @@
+{
+ "episode": "session_20251227_231719",
+ "task1_start": 42,
+ "task1_end": 91,
+ "task1_dist_thr": 0.15,
+ "task1_radius_est": 0.11816240921616558,
+ "task1_lift_dz": 0.025281322002410882,
+ "task1_contact_key": "fused_segmented_point_cloud_base_object_to_hand_point_cloud_base_contact_map",
+ "task2_start": 126,
+ "task2_end": 246,
+ "task2_dist_thr": 0.14496002405881883,
+ "task2_radius_est": 0.11150771081447602,
+ "task2_contact_key": "fused_segmented_point_cloud_base_drawer_to_hand_point_cloud_base_contact_map"
+}

dexmulti/keyframes/session_20251227_231953.json

@@ -0,0 +1,14 @@
+{
+ "episode": "session_20251227_231953",
+ "task1_start": 69,
+ "task1_end": 119,
+ "task1_dist_thr": 0.10420391090214254,
+ "task1_radius_est": 0.08015685454010964,
+ "task1_lift_dz": 0.04563069730997085,
+ "task1_contact_key": "fused_segmented_point_cloud_base_object_to_hand_point_cloud_base_contact_map",
+ "task2_start": 168,
+ "task2_end": 286,
+ "task2_dist_thr": 0.14365100495517255,
+ "task2_radius_est": 0.11050077304244042,
+ "task2_contact_key": "fused_segmented_point_cloud_base_drawer_to_hand_point_cloud_base_contact_map"
+}

dexmulti/library/NOTES.json

@@ -0,0 +1,3 @@
+{
+ "dual_task_policy_chamfer.npz": "as run on the robot (re-saved without pickle)"
+}

dexmulti/library/dual_task_policy_chamfer.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d365bf4651a8c3c4f8b4e3eed37c52bff3b1478e8b77c7caab931a1776ca23f1
+size 1635820

media/demo.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa2805132ccf7462b8e04cb67e17f4bd548d3f9c2bd2f896c2b4f6adfa712015
+size 1419134

meta/episodes/chunk-000/file-000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ed7e71ef91257b029737ee02809ad06d668aeae0bb5b6095d21f7692bcc468e
+size 387789

meta/info.json

@@ -0,0 +1,240 @@
+{
+    "codebase_version": "v3.0",
+    "fps": 10,
+    "features": {
+        "observation.images.cam1": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.fps": 10,
+                "video.channels": 3,
+                "has_audio": false,
+                "video.g": 10,
+                "video.crf": 23,
+                "video.preset": "medium",
+                "video.fast_decode": 0,
+                "video.video_backend": "pyav",
+                "video.extra_options": {},
+                "is_depth_map": false
+            }
+        },
+        "observation.images.cam2": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.fps": 10,
+                "video.channels": 3,
+                "has_audio": false,
+                "video.g": 10,
+                "video.crf": 23,
+                "video.preset": "medium",
+                "video.fast_decode": 0,
+                "video.video_backend": "pyav",
+                "video.extra_options": {},
+                "is_depth_map": false
+            }
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                29
+            ],
+            "names": [
+                "eef_x",
+                "eef_y",
+                "eef_z",
+                "eef_roll",
+                "eef_pitch",
+                "eef_yaw",
+                "arm_joint1",
+                "arm_joint2",
+                "arm_joint3",
+                "arm_joint4",
+                "arm_joint5",
+                "arm_joint6",
+                "arm_joint7",
+                "hand_joint00",
+                "hand_joint01",
+                "hand_joint02",
+                "hand_joint03",
+                "hand_joint04",
+                "hand_joint05",
+                "hand_joint06",
+                "hand_joint07",
+                "hand_joint08",
+                "hand_joint09",
+                "hand_joint10",
+                "hand_joint11",
+                "hand_joint12",
+                "hand_joint13",
+                "hand_joint14",
+                "hand_joint15"
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                22
+            ],
+            "names": [
+                "eef_cmd_x",
+                "eef_cmd_y",
+                "eef_cmd_z",
+                "eef_cmd_roll",
+                "eef_cmd_pitch",
+                "eef_cmd_yaw",
+                "hand_cmd00",
+                "hand_cmd01",
+                "hand_cmd02",
+                "hand_cmd03",
+                "hand_cmd04",
+                "hand_cmd05",
+                "hand_cmd06",
+                "hand_cmd07",
+                "hand_cmd08",
+                "hand_cmd09",
+                "hand_cmd10",
+                "hand_cmd11",
+                "hand_cmd12",
+                "hand_cmd13",
+                "hand_cmd14",
+                "hand_cmd15"
+            ]
+        },
+        "observation.pointcloud.object": {
+            "dtype": "float32",
+            "shape": [
+                512,
+                3
+            ],
+            "names": [
+                "point",
+                "xyz"
+            ]
+        },
+        "observation.pointcloud.drawer": {
+            "dtype": "float32",
+            "shape": [
+                512,
+                3
+            ],
+            "names": [
+                "point",
+                "xyz"
+            ]
+        },
+        "observation.pointcloud.hand": {
+            "dtype": "float32",
+            "shape": [
+                512,
+                3
+            ],
+            "names": [
+                "point",
+                "xyz"
+            ]
+        },
+        "observation.contact.object": {
+            "dtype": "float32",
+            "shape": [
+                512,
+                1
+            ],
+            "names": [
+                "point",
+                "contact"
+            ]
+        },
+        "observation.contact.drawer": {
+            "dtype": "float32",
+            "shape": [
+                512,
+                1
+            ],
+            "names": [
+                "point",
+                "contact"
+            ]
+        },
+        "observation.skill": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "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": 38,
+    "total_frames": 8840,
+    "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": "xarm7_leap",
+    "splits": {
+        "train": "0:38"
+    }
+}