farm_uf850_multiobject

424 teleoperated demonstrations of a UFactory UF850 arm doing 4 pick-and-place tasks with different objects, in LeRobot v2.0 format. Collected with the FARM VR-teleop harness (Meta Quest → ROS-TCP → π0.5). Intended for π0.5 GSE-robust (domain-randomized) fine-tuning.

Summary

Episodes	424
Frames	129,067 @ 30 fps (~72 min)
Tasks	4
Robot	uf850 (6 joints + parallel gripper)
Cameras	base, wrist (640×480, h264)

Tasks (episodes):

• Picking up the bottle and placing it on the box — 299
• Pick up the stuffed bear and place it on the box — 50
• Pick up the hat and place it on the box — 40
• Pick up the rubber duck and place it on the box — 35

Features

• observation.state — float32[7] — 6 joint angles (rad) + gripper (0=open…1=closed)
• action — float32[7] — next observation.state
• observation.images.base / observation.images.wrist — video (h264 mp4 @ 30 fps)
• timestamp, frame_index, episode_index, task_index, index — scalars

Provenance & integrity

Exported from the full labeled set of FARM dataset4 via model/export_lerobot.py. Every source episode was integrity-gated (both cameras present, frame count == metadata) and the export was frame-verified (MP4-vs-source PSNR 37–43 dB, no channel swap, no black/dropped frames, state/action finite + in range). Superset of the bottle-only NoahWeiss/farm_bottle_lora.