README.md

metadata

license: other
tags:
  - robotics
  - lerobot
  - manipulation
  - exumi
  - nmotion-initiative

Pick Brocolli

Visualizers

• LeRobot Visualizer
• Neural Motion Visualizer

Overview

This dataset is a conversion from an upstream robotics dataset into LeRobot v3-compatible format. It is intended to provide reproducible access in a unified schema.

Source Dataset

• Dataset ID: exumi-pick-brocolli
• Project: exUMI
• Task: Pick Brocolli
• Upstream download/source URL: https://huggingface.co/datasets/silicx/exUMI/resolve/main/pick_brocolli.zarr.zip?download=true
• Upstream project page: https://silicx.github.io/exUMI/
• Contact: silicxuyue@outlook.com
• Original paper: Xu et al. 2025
• Notes: 170 demos; image+tactile

Dataset Format

• Storage format: LeRobot v3 parquet-based dataset
• Total episodes: 30
• Total frames: 13137
• FPS: 30
• Robot type: generic_robot
• Observation feature: observation.state with shape [7]
• Action feature: action with shape [7]
• Video streams: present

Video Modalities

• observation.images.camera0_rgb: shape [224, 224, 3]
• Frame rate: 30 FPS

Conversion Notes

• Target schema: LeRobot v3
• Conversion path: ingest -> preprocess -> zarr probe -> convert 1 episode -> upload
• action fallback may be used when upstream data/action is missing.

Dataset Structure

meta/info.json:

{
  "codebase_version": "v3.0",
  "robot_type": "generic_robot",
  "total_episodes": 30,
  "total_frames": 13137,
  "fps": 30,
  "splits": {"train": "0:30"},
  "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": [7]},
    "action": {"dtype": "float32", "shape": [7]}
  }
}

Data Splits

• {'train': '0:30'}

Citation

This dataset was created using LeRobot. Please also cite the original upstream project and paper listed above.

Attribution

• Original dataset credit remains with upstream creators.
• Conversion and curation contribution:
  • Convertor: David Yuan, davidy02@stanford.edu, Stanford University
  • NMotion Initiative (opensource community): we make embodied data accessible