--- license: apache-2.0 task_categories: - robotics tags: - LeRobot - robotics - b601 - lewam - eval - real-robot - pusht configs: - config_name: default data_files: data/*/*.parquet --- This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). ## Dataset Description Real-robot evaluation rollouts recorded on a **Rebot B601** 7-DoF arm, from the LeWAM project. Every episode here is a policy rollout on the physical robot — not a teleoperated demonstration — scored by a human operator immediately after it ran. - **Task:** **non-prehensile PushT** (`b601_pusht`): the arm pushes a T-shaped block into a target pose without grasping it. Shares only its name with the simulated PushT. Trained on [`LeWAM/b601_pusht`](https://huggingface.co/datasets/LeWAM/b601_pusht). - **Policy:** a LeRobot **Diffusion Policy** (`horizon=40`, `n_action_steps=36`, `n_obs_steps=2`, widened to `down_dims=[336, 672, 1344]`), predicting an action chunk only - **Success rate:** **16/30 = 53.3%** - **Episodes:** 30 · **frames:** 38649 · **fps:** 30 · **robot time:** 21.5 min - **Wall-clock:** 71.1 min (median 143s, max 255s per episode) — longer than robot time because inference on this hardware runs slower than real time - **wandb run:** [`9uhvyemw`](https://wandb.ai/halicki/lewam-testing/runs/9uhvyemw) (`eval-pusht_diffusion_wide`) - **Episode cap:** 5400 steps — an episode that hits it is scored a failure. ### Observations Three synchronised camera streams (`observation.images.zed_left`, `observation.images.zed_right` from a ZED Mini, `observation.images.wrist_cam` from a wrist-mounted USB camera) plus `observation.state`. `action` is the 7-DoF joint command the policy emitted. Note the policies were served **torque-only** state (`observation.state` sliced to `*.torq`); the `observation.state` recorded here is the robot's full state vector, so reproducing what the policy actually saw means applying the same slice. ### Per-episode scoring `eval_session.json` holds the operator's label for each episode: | episode | success | steps | seconds | |---|---|---|---| | 0 | ✅ | 541 | 54.0 | | 1 | ❌ | 831 | 81.4 | | 2 | ❌ | 632 | 68.8 | | 3 | ❌ | 758 | 81.6 | | 4 | ✅ | 632 | 70.1 | | 5 | ✅ | 848 | 94.9 | | 6 | ❌ | 1912 | 209.4 | | 7 | ❌ | 1118 | 126.0 | | 8 | ✅ | 1274 | 142.7 | | 9 | ❌ | 938 | 105.8 | | 10 | ❌ | 830 | 94.0 | | 11 | ✅ | 1640 | 187.1 | | 12 | ✅ | 1586 | 179.0 | | 13 | ✅ | 1334 | 152.7 | | 14 | ❌ | 1688 | 185.0 | | 15 | ❌ | 1136 | 130.6 | | 16 | ✅ | 1354 | 153.2 | | 17 | ✅ | 884 | 102.2 | | 18 | ❌ | 2144 | 240.0 | | 19 | ❌ | 1568 | 155.1 | | 20 | ✅ | 1154 | 122.9 | | 21 | ❌ | 1064 | 115.4 | | 22 | ✅ | 2222 | 237.6 | | 23 | ✅ | 1820 | 201.2 | | 24 | ❌ | 1118 | 125.7 | | 25 | ✅ | 1463 | 164.9 | | 26 | ✅ | 1568 | 170.9 | | 27 | ❌ | 560 | 60.9 | | 28 | ✅ | 1792 | 199.0 | | 29 | ✅ | 2270 | 255.0 | - **Homepage:** https://github.com/erykhalicki/LeWAM - **Paper:** [More Information Needed] - **License:** apache-2.0 ## Dataset Structure [meta/info.json](meta/info.json): ```json { "codebase_version": "v3.0", "fps": 30, "features": { "observation.state": { "dtype": "float32", "shape": [ 21 ], "names": [ "shoulder_pan.pos", "shoulder_lift.pos", "elbow_flex.pos", "wrist_flex.pos", "wrist_yaw.pos", "wrist_roll.pos", "gripper.pos", "shoulder_pan.torq", "shoulder_lift.torq", "elbow_flex.torq", "wrist_flex.torq", "wrist_yaw.torq", "wrist_roll.torq", "gripper.torq", "shoulder_pan.vel", "shoulder_lift.vel", "elbow_flex.vel", "wrist_flex.vel", "wrist_yaw.vel", "wrist_roll.vel", "gripper.vel" ] }, "observation.images.zed_left": { "dtype": "video", "shape": [ 376, 672, 3 ], "names": [ "height", "width", "channels" ], "info": { "is_depth_map": false, "video.height": 376, "video.width": 672, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.fps": 30, "video.channels": 3, "has_audio": false, "video.g": 2, "video.crf": 30, "video.preset": null, "video.fast_decode": 0, "video.video_backend": "pyav", "video.extra_options": {} } }, "observation.images.zed_right": { "dtype": "video", "shape": [ 376, 672, 3 ], "names": [ "height", "width", "channels" ], "info": { "is_depth_map": false, "video.height": 376, "video.width": 672, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.fps": 30, "video.channels": 3, "has_audio": false, "video.g": 2, "video.crf": 30, "video.preset": null, "video.fast_decode": 0, "video.video_backend": "pyav", "video.extra_options": {} } }, "observation.images.wrist_cam": { "dtype": "video", "shape": [ 360, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "is_depth_map": false, "video.height": 360, "video.width": 640, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.fps": 30, "video.channels": 3, "has_audio": false, "video.g": 2, "video.crf": 30, "video.preset": null, "video.fast_decode": 0, "video.video_backend": "pyav", "video.extra_options": {} } }, "action": { "dtype": "float32", "shape": [ 7 ], "names": [ "shoulder_pan.pos", "shoulder_lift.pos", "elbow_flex.pos", "wrist_flex.pos", "wrist_yaw.pos", "wrist_roll.pos", "gripper.pos" ] }, "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": 30, "total_frames": 38649, "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": null, "splits": { "train": "0:30" } } ``` ## Citation **BibTeX:** ```bibtex [More Information Needed] ```