| --- |
| pretty_name: UF850 VR Teleoperation Hang The Cup RLDS 10 Hz No-Op Filtered |
| language: |
| - en |
| tags: |
| - robotics |
| - imitation-learning |
| - teleoperation |
| - uf850 |
| - quest-vr |
| - realsense |
| - rlds |
| - tensorflow-datasets |
| - openvla |
| - 10hz |
| - noop-filtered |
| size_categories: |
| - 1K<n<10K |
| --- |
| |
| # UF850 VR Teleoperation Hang The Cup RLDS 10 Hz No-Op Filtered |
|
|
| Public OpenVLA-OFT/VLA-Adapter-compatible RLDS/TFDS trajectories derived from |
| [`CASE-Lab/uf850-vr-teleop-hang-the-cup-raw`](https://huggingface.co/datasets/CASE-Lab/uf850-vr-teleop-hang-the-cup-raw). |
| The raw release is endpoint-resampled to a local, checksum-pinned 10 Hz |
| intermediate and then filtered for idle actions. The final published release |
| keeps the original 10 Hz endpoint action semantics. |
|
|
| ## Task |
|
|
| Hang the yellow cup on the cup rack. |
|
|
| Instructions stored in `language_instruction`: |
|
|
| - `hang the yellow cup on the cup rack` |
|
|
| ## Dataset summary |
|
|
| | Item | Value | |
| | --- | ---: | |
| | Episodes | 30 | |
| | Source 10 Hz transition steps | 5,953 | |
| | Retained RLDS steps | 4,256 | |
| | Removed no-op steps | 1,697 | |
| | Retained fraction | 71.49% | |
| | Split | `train` only | |
| | TFDS version | `1.0.1` | |
|
|
| ## No-op filtering and semantics |
|
|
| A 10 Hz step is removed only when translation is below |
| `0.02 cm`, wrapped rotation is below |
| `0.002 rad`, and the absolute gripper state is unchanged. |
| Gripper transitions are always retained. Actions keep their original 10 Hz |
| endpoint meaning and are not recomputed after filtering. Encoded source JPEGs |
| are copied byte-for-byte into the filtered TFRecords. |
|
|
| - `observation/image`: external RGB, 224 x 224. |
| - `observation/hand_image`: wrist RGB, 224 x 224. |
| - `observation/end_effector_pose`: six UF850 joint angles in radians. |
| - `action[0:3]`: relative TCP XYZ in centimetres. |
| - `action[3:6]`: wrapped relative Euler rotation in radians. |
| - `action[6]`: absolute gripper target (`-1` open, `+1` closed). |
|
|
| ## Loading |
|
|
| ```python |
| from huggingface_hub import snapshot_download |
| import tensorflow_datasets as tfds |
| |
| root = snapshot_download(repo_id="CASE-Lab/uf850-vr-teleop-hang-the-cup-rlds-noop-filtered", repo_type="dataset") |
| builder = tfds.builder_from_directory(f"{root}/utokyo_xarm_pick_and_place_converted_externally_to_rlds/1.0.1") |
| dataset = builder.as_dataset(split="train", shuffle_files=False) |
| ``` |
|
|
| Use the repository root as VLA-Adapter `data_root_dir`. UF850 task repositories |
| share the same internal TFDS dataset name and must remain in separate local |
| roots. |
|
|
| ## Provenance and limitations |
|
|
| `SOURCE_README.md` preserves the superseded source card, |
| `conversion_manifest.json` records per-episode filtering and source hashes, |
| and `SHA256SUMS` covers every published payload. Only a train split is |
| provided; there are no independent per-episode success labels. |
|
|
