---
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).