| --- |
| pretty_name: Bimanual xArm Packing (Real World) |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - bimanual |
| - xarm |
| - real-world |
| - packing |
| --- |
| |
| # Bimanual xArm Packing (Real World) |
|
|
| Teleoperated demonstrations of a bimanual packing task on two real xArm robots. The arms pack |
| household objects (for example a sponge, a Cheez-It container and an Altoids container) into |
| small, medium and large boxes. Each episode is one subtask, such as "Pack Sponge into medium |
| box.", and the `task` field holds that instruction. Instruction wording varies across episodes |
| (for example with and without "the"), as recorded during collection. |
|
|
| ## Layout |
|
|
| Each round folder is a complete LeRobot dataset (codebase version 2.1). |
|
|
| | Folder | Episodes | Frames | |
| |---|---|---| |
| | `baseline/round1` | 164 | 97,522 | |
| | `baseline/round2` | 282 | 167,612 | |
| | `baseline/round3` | 283 | 147,111 | |
| | `baseline/round4` | 281 | 157,816 | |
| | `baseline/round5` | 280 | 154,808 | |
| | `baseline/round6` | 282 | 151,189 | |
| | `beta-data/round1` | 566 | 331,819 | |
| | `beta-data/round2` | 653 | 351,865 | |
| | `beta-data/round3` | 626 | 344,594 | |
|
|
| `baseline` holds standard demonstrations. `beta-data` holds demonstrations collected while a |
| person perturbs the scene during the task, so episodes include recovery from disturbed states, |
| and that person is often visible in the camera views. |
|
|
| ## Features |
|
|
| All rounds share one schema, which matches the simulation dataset |
| [`kshitiz25/sim_packing_task`](https://huggingface.co/datasets/kshitiz25/sim_packing_task), and are |
| recorded at 60 Hz. |
|
|
| | Key | Shape | Description | |
| |---|---|---| |
| | `observation.state` | float32 (20,) | Per arm, left then right: end-effector position `(x, y, z)`, rotation as the first two columns of the rotation matrix `(r00, r10, r20, r01, r11, r21)`, gripper | |
| | `action` | float32 (20,) | Target pose in the same 20-d layout as the state | |
| | `observation.images.base` | video, 3x224x224 | Overhead camera | |
| | `observation.images.left_wrist` | video, 3x224x224 | Left wrist camera | |
| | `observation.images.right_wrist` | video, 3x224x224 | Right wrist camera | |
| | `task_index` | int64 | Index into `meta/tasks.jsonl` | |
|
|
| Videos are AV1-encoded MP4 files; decoding them needs an FFmpeg build with an AV1 decoder |
| (for example `libdav1d`). `meta/high_level_prompts.json` stores the goal-level prompt for each |
| episode. |
|
|
| ## Usage |
|
|
| Download one round and read its frames: |
|
|
| ```python |
| from huggingface_hub import snapshot_download |
| import pandas as pd |
| |
| root = snapshot_download( |
| "kshitiz25/real_world_packing_task", |
| repo_type="dataset", |
| allow_patterns="baseline/round1/*", |
| ) |
| ds_root = f"{root}/baseline/round1" |
| frames = pd.read_parquet(f"{ds_root}/data/chunk-000/episode_000000.parquet") |
| ``` |
|
|
| Point a LeRobot release that reads codebase version 2.1 at `ds_root` to load a round as a |
| `LeRobotDataset`. |
|
|
