Datasets:

THULab
/

close_shoebox

A bimanual manipulation dataset recorded with LeRobot (codebase v2.1) on an arx5_bimanual robot. In each episode the robot closes a shoebox by pushing the lid with its left arm while holding the box in place with its right arm.

Robot: arx5_bimanual (14 motors).
Episodes: 97 (single train split).
Frames: 71,239 total.
Sampling rate: 50 fps (one frame every 20 ms).
Tasks (2):
- 0 — "close the blue shoebox by pushing the lid with your left arm and holding the box in place with you right arm"
- 1 — "close the red shoebox by pushing the lid with your left arm and holding the box in place with you right arm"

Schema (TsFile structure)

All 97 episodes are stored in a single TsFile, data/close_shoebox.tsfile, using episode_index and task_index as TAG columns (the TsFile device dimension). Query a single episode with WHERE episode_index=N, or all episodes of a task with WHERE task_index=1.

Time (INT64, milliseconds) — round(timestamp * 1000), restarts at 0 per episode (20 ms steps at 50 fps).
episode_index (TAG) — source episode id (0–96).
task_index (TAG) — source task id (0 = blue, 1 = red).
frame_index (INT64) — frame position within the episode.
sample_index (INT64) — the source index column, renamed.
observation_state_0 .. observation_state_13 (FIELD, FLOAT) — the 14-DoF observed joint state (observation.state).
action_0 .. action_13 (FIELD, FLOAT) — the 14-DoF commanded action.
next_done (FIELD) — source episode-termination flag, preserved as-is.

The source observation.state[14] and action[14] vector columns are flattened to single-precision FLOAT scalars (. → _, element index appended). The source timestamp column is dropped because it equals Time / 1000 seconds.

Usage

Read the .tsfile file with the Apache TsFile Java or Python SDK.

Notes

Camera video streams (observation.images.front, observation.images.left_wrist, observation.images.right_wrist) are not included in this repository. They remain in the original dataset under its videos/ directory: https://huggingface.co/datasets/villekuosmanen/close_shoebox/tree/main/videos.

Source & license

Original dataset: https://huggingface.co/datasets/villekuosmanen/close_shoebox
Author / publisher: villekuosmanen
Paper: not declared by the original dataset.
License: not declared by the original dataset; please defer to the original.

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