--- license: apache-2.0 task_categories: - robotics tags: - LeRobot - fanuc - crx-5ia - pick-and-place - dice configs: - config_name: default data_files: data/*/*.parquet --- This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). ## Dataset Description ## Collection metrics 100 episodes, 62850 frames at 30 fps, 2095 s of demonstration. Generated 2026-09-03T02:40:41Z by fanuc_control.data_utils.metrics v1. Definitions and thresholds: docs/metrics.md. | Pose channel | value | note | |---|---|---| | identical consecutive poses | 0.0% | old corpus 18% (cache frozen during moves) | | exact-linear ramp frames | 23.4% | old corpus 79% (interpolated) | | stationary frames (joint speed < 0.5 deg/s) | 39.2% | RMI stop-and-go corpus 39% | | stationary run length p50 / p90 / max (frames) | 10 / 50 / 88 | a run >= 30 is a whole ACT chunk | | frames inside stationary runs >= 30 | 21.5% | hover fixed point; was 21% | | 'stay put' 30-row action chunks | 15.7% | label ambiguity at rest; was 15% | | joint speed p50 / p90 / max (deg/s) | 4.2 / 51.0 / 80.9 | | | Grasp geometry | value | note | |---|---|---| | episodes with a close / release | 100 / 100 | | | close above descent bottom p50 / p90 / max (mm) | 0.06 / 0.10 / 0.15 | old corpus 35.1 mm in 99/99; limit 3 | | frames at depth before the close p50 / p90 / max | 13 / 13 / 14 | the settle before grip | | z at close p50 / p90 / max (mm) | -126.5 / -126.5 / -126.5 | | | z at release p50 / p90 / max (mm) | -125.0 / -125.0 / -125.0 | | | Placement (x, y at the close) | value | |---|---| | closes measured | 100 | | x range (mm) | [159.4, 465.14] | | y range (mm) | [343.42, 536.02] | | inside the randomiser region | 100% | | Sync and yield (collection_stats.jsonl) | value | note | |---|---|---| | yield (kept / attempts) | 100 / 102 = 98% | | | discards | {'unknown': 2} | | | repaired frame ticks (total, episodes) | 1, 1 | duplicated frames over a sampler hole | | pose cadence p50 / p90 / max (ms) | 8.00 / 8.00 / 8.00 | 8.00 nominal | | pose worst gap p50 / p90 / max (ms) | 8.0 / 8.0 / 24.0 | recorder refuses > 40 under a frame | | pose sequence gaps | 3 | | | pose receive jitter p50 / p90 / max (ms) | 9.6 / 14.8 / 21.4 | absorbed by the controller clock | | close above depth p50 / p90 / max (mm) | 0.06 / 0.10 / 0.15 | recorder refuses > 3 | | depth lead before close p50 / p90 / max (ms) | 433 / 433 / 466 | | | inter-camera skew p50 / p90 / max (ms) | 50 / 51 / 53 | recorder refuses > 100 | | wrist camera vs pose lag median / |median| / max|.| (ms) | 11.4 / 28.5 / 124.3 (corr 0.41, n 74) | + = camera later | | Camera | files | frames | rows | match | brightness median | clipped | |---|---|---|---|---|---|---| | observation.images.gripper | 3 | 62850 | 62850 | True | 42 | 0.06% | | observation.images.cam0 | 5 | 62850 | 62850 | True | 131 | 1.70% | | observation.images.cam1 | 7 | 62850 | 62850 | True | 35 | 1.15% | | observation.images.cam2 | 7 | 62850 | 62850 | True | 20 | 2.31% | **Flags:** stationary frames 39.2% > 30.0%; frames in stationary runs >= 30 21.5% > 10.0%; stay-put 30-row chunks 15.7% > 5.0%; pose stream sequence gaps: 3; observation.images.cam1: median brightness 35; observation.images.cam2: median brightness 20 - **Homepage:** [More Information Needed] - **Paper:** [More Information Needed] - **License:** apache-2.0 ## Dataset Structure [meta/info.json](meta/info.json): ```json { "codebase_version": "v3.0", "fps": 30, "features": { "observation.state": { "dtype": "float32", "shape": [ 13 ], "names": [ "J1", "J2", "J3", "J4", "J5", "J6", "x", "y", "z", "W", "P", "R", "gripper" ] }, "action": { "dtype": "float32", "shape": [ 13 ], "names": [ "J1", "J2", "J3", "J4", "J5", "J6", "x", "y", "z", "W", "P", "R", "gripper" ] }, "observation.images.gripper": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.fps": 30, "video.channels": 3, "has_audio": false, "video.g": 2, "video.crf": 30, "video.preset": 12, "video.fast_decode": 0, "video.video_backend": "pyav", "video.extra_options": {}, "is_depth_map": false } }, "observation.images.cam0": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.fps": 30, "video.channels": 3, "has_audio": false, "video.g": 2, "video.crf": 30, "video.preset": 12, "video.fast_decode": 0, "video.video_backend": "pyav", "video.extra_options": {}, "is_depth_map": false } }, "observation.images.cam1": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.fps": 30, "video.channels": 3, "has_audio": false, "video.g": 2, "video.crf": 30, "video.preset": 12, "video.fast_decode": 0, "video.video_backend": "pyav", "video.extra_options": {}, "is_depth_map": false } }, "observation.images.cam2": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.fps": 30, "video.channels": 3, "has_audio": false, "video.g": 2, "video.crf": 30, "video.preset": 12, "video.fast_decode": 0, "video.video_backend": "pyav", "video.extra_options": {}, "is_depth_map": 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 } }, "total_episodes": 100, "total_frames": 62850, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "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", "robot_type": "fanuc_crx5ia", "splits": { "train": "0:100" } } ``` ## Citation **BibTeX:** ```bibtex [More Information Needed] ```