| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - robomme |
| - lerobot |
| - geometry |
| - camera-calibration |
| configs: |
| - config_name: default |
| data_files: data/*/*.parquet |
| --- |
| |
| This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
|
|
|
|
| <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=phicoltan/robomme_geometry"> |
| <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/> |
| <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/> |
| </a> |
|
|
|
|
| ## Dataset Description |
|
|
| # RoboMME geometry augmentation |
|
|
| Generated from `lerobot/robomme` at revision `main`. |
|
|
| The original RGB, state, action, annotation, episode and task columns are |
| unchanged. |
|
|
| Geometry is recovered from the original RoboMME HDF5 trajectories. Every HDF5 |
| episode is matched to its LeRobot episode using recorded joint state/actions, |
| then state, action, and demo status are checked frame by frame before geometry |
| is copied. |
|
|
| ## Added end-effector columns |
|
|
| Pose columns contain: |
|
|
| [position, rotation, gripper] |
| |
| The following rotation representations are available: |
|
|
| - rotvec |
| - quat_xyzw |
| - rot6d |
| - rot6d_rows |
| - matrix |
| - euler_xyz_extrinsic |
|
|
| `observation.state.ee_*` contains the recorded absolute measured end-effector |
| pose. |
|
|
| `action.ee_absolute.*` contains RoboMME's recorded absolute end-effector target |
| corresponding to the joint-space action. RoboMME computed and stored this pose |
| from `joint_action` using forward kinematics during dataset recording; this augmentation script does not recompute kinematics. |
|
|
| ## Cameras |
|
|
| Added columns: |
|
|
| - `observation.intrinsics.image` |
| - `observation.intrinsics.wrist_image` |
| - `observation.extrinsics.image` |
| - `observation.extrinsics.wrist_image` |
|
|
| Intrinsics are 3x3 OpenCV camera matrices. |
|
|
| Extrinsics are stored as world-from-camera `[xyz, quaternion xyzw]`. RoboMME's |
| recorded OpenCV `extrinsic_cv` matrices are inverted to obtain this convention. |
|
|
| ## Gripper events |
|
|
| - `observation.gripper.time_to_close` |
| - `observation.gripper.time_to_open` |
|
|
| Values are seconds until the next gripper command transition. |
|
|
| RoboMME's action convention is: |
|
|
| - -1 = close |
| - +1 = open |
|
|
| Event search never crosses an episode boundary or the conditioning-demo / |
| execution boundary. NaN means no subsequent event in the current segment. |
|
|
| ## Chunk-anchored statistics |
|
|
| `meta/stats.json` additionally contains per-offset statistics under: |
|
|
| action.ee_absolute.<rotation>.anchored_horizon_50 |
| |
| Only execution chunks are used; conditioning-video frames are excluded. |
|
|
| Positions are anchored to the measured end-effector position at the start of |
| the chunk: |
|
|
| p_relative[t] = p_action[t] - p_state[start] |
| |
| Rotations are: |
|
|
| R_relative[t] = R_action[t] @ R_state[start].T |
| |
| The gripper remains an absolute command. |
|
|
| These are stats keys, not dataset feature columns. |
|
|
|
|
| - **Homepage:** [More Information Needed] |
| - **Paper:** [More Information Needed] |
| - **License:** apache-2.0 |
|
|
| ## Dataset Structure |
|
|
| [meta/info.json](meta/info.json): |
| ```json |
| { |
| "codebase_version": "v3.0", |
| "fps": 10, |
| "features": { |
| "image": { |
| "dtype": "video", |
| "shape": [ |
| 256, |
| 256, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "fps": 10, |
| "info": { |
| "video.height": 256, |
| "video.width": 256, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 10, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "wrist_image": { |
| "dtype": "video", |
| "shape": [ |
| 256, |
| 256, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "fps": 10, |
| "info": { |
| "video.height": 256, |
| "video.width": 256, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 10, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "state": { |
| "dtype": "float32", |
| "shape": [ |
| 8 |
| ], |
| "names": [ |
| "state" |
| ], |
| "fps": 10 |
| }, |
| "actions": { |
| "dtype": "float32", |
| "shape": [ |
| 8 |
| ], |
| "names": [ |
| "actions" |
| ], |
| "fps": 10 |
| }, |
| "exec_start_idx": { |
| "dtype": "int32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "execution start idx in current episode" |
| ], |
| "fps": 10 |
| }, |
| "is_demo": { |
| "dtype": "bool", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "is video demo" |
| ], |
| "fps": 10 |
| }, |
| "step_idx": { |
| "dtype": "int32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "step_idx" |
| ], |
| "fps": 10 |
| }, |
| "epis_idx": { |
| "dtype": "int32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "epis_idx" |
| ], |
| "fps": 10 |
| }, |
| "simple_subgoal": { |
| "dtype": "string", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "simple subgoal" |
| ], |
| "fps": 10 |
| }, |
| "grounded_subgoal": { |
| "dtype": "string", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "detailed subgoal with grounding information, e.g, object location" |
| ], |
| "fps": 10 |
| }, |
| "simple_subgoal_online": { |
| "dtype": "string", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "simple subgoal online" |
| ], |
| "fps": 10 |
| }, |
| "grounded_subgoal_online": { |
| "dtype": "string", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "detailed subgoal with grounding information, e.g, object location" |
| ], |
| "fps": 10 |
| }, |
| "timestamp": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "frame_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "episode_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "task_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "observation.state.ee_rotvec": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": null |
| }, |
| "action.ee_absolute.rotvec": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": null |
| }, |
| "observation.state.ee_quat_xyzw": { |
| "dtype": "float32", |
| "shape": [ |
| 8 |
| ], |
| "names": null |
| }, |
| "action.ee_absolute.quat_xyzw": { |
| "dtype": "float32", |
| "shape": [ |
| 8 |
| ], |
| "names": null |
| }, |
| "observation.state.ee_rot6d": { |
| "dtype": "float32", |
| "shape": [ |
| 10 |
| ], |
| "names": null |
| }, |
| "action.ee_absolute.rot6d": { |
| "dtype": "float32", |
| "shape": [ |
| 10 |
| ], |
| "names": null |
| }, |
| "observation.state.ee_rot6d_rows": { |
| "dtype": "float32", |
| "shape": [ |
| 10 |
| ], |
| "names": null |
| }, |
| "action.ee_absolute.rot6d_rows": { |
| "dtype": "float32", |
| "shape": [ |
| 10 |
| ], |
| "names": null |
| }, |
| "observation.state.ee_matrix": { |
| "dtype": "float32", |
| "shape": [ |
| 13 |
| ], |
| "names": null |
| }, |
| "action.ee_absolute.matrix": { |
| "dtype": "float32", |
| "shape": [ |
| 13 |
| ], |
| "names": null |
| }, |
| "observation.state.ee_euler_xyz_extrinsic": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": null |
| }, |
| "action.ee_absolute.euler_xyz_extrinsic": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": null |
| }, |
| "observation.gripper.time_to_close": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "observation.gripper.time_to_open": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "observation.intrinsics.image": { |
| "dtype": "float32", |
| "shape": [ |
| 3, |
| 3 |
| ], |
| "names": null |
| }, |
| "observation.intrinsics.wrist_image": { |
| "dtype": "float32", |
| "shape": [ |
| 3, |
| 3 |
| ], |
| "names": null |
| }, |
| "observation.extrinsics.image": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": null |
| }, |
| "observation.extrinsics.wrist_image": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": null |
| } |
| }, |
| "total_episodes": 1600, |
| "total_frames": 768897, |
| "total_tasks": 116, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", |
| "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", |
| "robot_type": "panda", |
| "splits": { |
| "train": "0:1600" |
| } |
| } |
| ``` |
|
|
|
|
| ## Citation |
|
|
| **BibTeX:** |
|
|
| ```bibtex |
| [More Information Needed] |
| ``` |
