| --- |
| license: other |
| tags: |
| - robotics |
| - lerobot |
| - manipulation |
| - exumi |
| - nmotion-initiative |
| --- |
| |
| # Pick Brocolli |
|
|
| ## Visualizers |
| - [LeRobot Visualizer](https://huggingface.co/spaces/lerobot/visualize_dataset?path=%2FDaivdYuan%2Fexumi-pick-brocolli-lerobot) |
| - [Neural Motion Visualizer](https://platform.neural-motion.org/open?repo=DaivdYuan%2Fexumi-pick-brocolli-lerobot) |
|
|
|
|
| ## 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`: |
| ```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](https://github.com/huggingface/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* |
|
|
