| --- |
| tags: |
| - robotics |
| - lerobot |
| - video |
| configs: |
| - config_name: videos |
| default: true |
| drop_labels: true |
| data_files: |
| - split: train |
| path: |
| - "wipe_table/record_*/videos/**/*.mp4" |
| - "checkout/record_*/videos/**/*.mp4" |
| - "close_curtain/record_*/videos/**/*.mp4" |
| - "cloth_basket/record_*/videos/**/*.mp4" |
| - "fruit_basket/record_*/videos/**/*.mp4" |
| - "make_bed/record_*/videos/**/*.mp4" |
| - "pillow/record_*/videos/**/*.mp4" |
| - "push_cart/record_*/videos/**/*.mp4" |
| --- |
| |
| <h1 align="center" style="display: flex; justify-content: center; width: 100%; text-align: center; line-height: 0; border-bottom: 1px solid rgba(127, 127, 127, 0.35); margin-bottom: 0.4em;"><img src="https://huggingface.co/datasets/WB-WAM/Self-Collected/resolve/main/assets/wbwam_logo_white.png" alt="WB-WAM" width="220" style="max-width: 100%; height: auto; margin-bottom: 0;" /></h1> |
|
|
| <p align="center" style="display: flex; justify-content: center; width: 100%; text-align: center;"><strong>Selfcollected Dataset</strong></p> |
|
|
| English · [中文](README_zh.md) |
|
|
| Real-robot data collected with SONIC for WB-WAM task post-training. LeRobot v3.0, 20 Hz, RGB 360 × 270. The release contains 1,011 episodes, 242,668 frames, 8 tasks, and 12 independent recordings (3.370 hours). |
|
|
| Each `<task>/record_XXXX/` is an independent LeRobot dataset. Recordings of the same task remain separate: |
|
|
| ```text |
| <task>/record_XXXX/ |
| data/chunk-000/file-000.parquet |
| videos/<camera>/chunk-000/file-000.mp4 |
| meta/info.json |
| meta/stats.json |
| meta/tasks.parquet |
| meta/episodes/chunk-000/file-000.parquet |
| ``` |
|
|
| The Dataset Viewer plays the MP4 files. The corresponding Parquet state/action rows and metadata are available under each recording in Files and versions. |
|
|
| | Field | Meaning | |
| | --- | --- | |
| | `observation.state` | float32[110]: body state[9], G1 joint angles[29], G1 joint velocities[29], left/right Wuji hands[40], root[3] | |
| | `action` | float32[136]: next SONIC token[64], left/right Wuji hands[40], G1 joints[29], root[3] | |
| | `state_mask_110`, `action_mask_136` | bool[110/136]; `True` means invalid. Both hands have supervision. | |
| | `timestamp`, `frame_index`, `episode_index`, `index`, `task_index` | Time and row/episode/task indices. | |
| | `next.done` | Last frame of an episode. | |
|
|
| The action contains **absolute next-frame joint targets** (+50 ms), not joint increments. Root[3] denotes roll, pitch, and body-frame z angular velocity, not XYZ position. The original train/validation labels are retained in episode metadata. See each record's `meta/info.json` for exact slices and camera keys. |
|
|
| Download the unpacked files directly: |
|
|
| ```bash |
| hf download WB-WAM/Self-Collected --repo-type dataset --local-dir ./data/real_archive |
| ``` |
|
|
| To load one recording with LeRobot 0.4.4, use its local record directory as `root`: |
|
|
| ```python |
| from lerobot.datasets.lerobot_dataset import LeRobotDataset |
| |
| dataset = LeRobotDataset("WB-WAM/Self-Collected", root="./data/real_archive/<task>/record_XXXX") |
| sample = dataset[0] |
| ``` |
|
|
| Training code and instructions: [WB-WAM Official](https://github.com/WB-WaM/WB-WAM-Official/tree/main/training). |
|
|
