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README.md

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+---
+license: mit
+task_categories:
+  - robotics
+tags:
+  - lerobot
+  - robotics
+  - imitation-learning
+  - manipulation
+  - bimanual
+  - ur3
+size_categories:
+  - 10K<n<100K
+---
+
+# EmbodyX UR3 — three bimanual manipulation tasks (LeRobot v2.1)
+
+Real-world teleoperated demonstrations on a **bimanual dual-arm UR3**, released as the three
+tasks used to fine-tune [`armanakbari4/imagewam-ur3-3task`](https://huggingface.co/armanakbari4/imagewam-ur3-3task).
+
+| task | episodes | frames | fps | instruction |
+|---|---|---|---|---|
+| `blue_basket_lerobot` | 100 | 29,653 | 15 | "put the medicine then the measuring tape inside the blue basket" |
+| `drawer_lerobot` | 100 | 32,982 | 15 | "open the drawer, put the white box inside the drawer then close the drawer" |
+| `stacking_cubes_lerobot` | 100 | 37,042 | 15 | "put the green cube on top of the black cube and put the red cube on top of the green cube" |
+
+**300 episodes / 99,677 frames** total, ~809 MB.
+
+## Format
+
+LeRobot **v2.1**, one directory per task, each with `data/`, `videos/`, and `meta/`.
+
+**Observations** — three RGB cameras at **240×320**:
+
+- `observation.images.camera_top`
+- `observation.images.camera_wrist_left`
+- `observation.images.camera_wrist_right`
+
+**Action & state** — 14-dim each, absolute joint space, laid out as
+`[L_arm(6) | L_gripper | R_arm(6) | R_gripper]`. Grippers are binary (0 = open, 1 = closed).
+
+```python
+from datasets import load_dataset
+# or use the LeRobot loader against a local clone:
+#   huggingface-cli download armanakbari4/ur3-3task-lerobot --repo-type dataset --local-dir ur3
+```
+
+## Known issue: declared codec is wrong for one task
+
+`meta/info.json` declares `video.codec: av1` for all three tasks. That is **correct for
+`drawer_lerobot` and `stacking_cubes_lerobot`, but wrong for `blue_basket_lerobot`**, whose
+videos were re-encoded to **h264** without the metadata being updated. Verified with `ffprobe`:
+
+| task | declared | actual |
+|---|---|---|
+| `blue_basket_lerobot` | av1 | **h264** |
+| `drawer_lerobot` | av1 | av1 |
+| `stacking_cubes_lerobot` | av1 | av1 |
+
+Decoding is driven by the container rather than `info.json`, so this is harmless in practice —
+but don't go looking for an AV1 decoder problem when reading `blue_basket`.
+
+## Decoding note (AV1)
+
+Two of the three tasks are genuinely AV1. If your `torchcodec` install fails to load, LeRobot
+falls back to a pyav decoder that can leak memory heavily on these files and OOM dataloader
+workers. On a CUDA-11 torch build this usually means the NPP libraries are missing
+(`libnppicc.so.11`); installing `nvidia-npp-cu11` and putting it on `LD_LIBRARY_PATH` fixes it.
+
+## Provenance
+
+Collected by **EmbodyX** on a bimanual UR3 setup. Released here as the exact subset used for
+the ImageWAM fine-tune above.