yixiaosz/pi0_button_press_dataset

This dataset was created using LeRobot.

Dataset Description

Needs trimming

WARNING: this dataset is NOT recommended for direct training as-is.

• ~72% of frames are near-static (max |Δaction| < 0.02 rad/step) — the arm hovers/idles for most of each episode.
• Only 17% of frames carry the actual approach+press motion (86 of ~507 frames/episode; motion starts ~4% into each episode).
• This makes pi0's flow-matching loss dominated by 'stay still' targets → the fine-tuned policy learns to hover and fails to press reliably in closed-loop eval.

A trimmed version is coming soon.

Contents: 61 episodes / 30981 frames, 2 cameras (side_view, wrist_ego), 6-dim state/action, task 'press the red button on the box', recorded from the RM65-6F + DexHand-021 MuJoCo sim via the SO-101 leader.

• License: apache-2.0

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "rm65_6f_dexhand",
    "total_episodes": 61,
    "total_frames": 30981,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:61"
    },
    "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",
    "features": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "arm_joint1",
                "arm_joint2",
                "arm_joint3",
                "arm_joint4",
                "arm_joint5",
                "arm_joint6"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "arm_joint1",
                "arm_joint2",
                "arm_joint3",
                "arm_joint4",
                "arm_joint5",
                "arm_joint6"
            ]
        },
        "observation.images.side_view": {
            "dtype": "video",
            "shape": [
                3,
                480,
                640
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist_ego": {
            "dtype": "video",
            "shape": [
                3,
                480,
                640
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "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
        }
    }
}