Demos25 - Dual-Arm Robot Manipulation Dataset
Dataset Description
Demos25 is a comprehensive dual-arm robot manipulation dataset containing 25 episodes of supermarket packing tasks. The dataset follows the LeRobot format and includes multi-modal data with video observations, robot states, and actions.
Dataset Summary
- Total Episodes: 25
- Total Frames: 44,492
- FPS: 30
- Robot Type: A2D (dual-arm robot)
- Task: Supermarket packing with item manipulation and bag organization
Task Description
The robot is positioned in front of a cash register with four different types of items and a soft woven bag. The task involves altering the positions and orientations of the items and the soft woven bag on the cash register.
Dataset Structure
The dataset is organized in LeRobot v2.1 format with the following structure:
demos25/
βββ data/
β βββ chunk-000/
β βββ episode_000000.parquet
β βββ episode_000001.parquet
β βββ ...
βββ videos/
β βββ chunk-000/
β βββ observation.images.head/
β βββ observation.images.hand_left/
β βββ observation.images.hand_right/
βββ meta/
β βββ info.json
β βββ episodes.jsonl
β βββ episodes_stats.jsonl
β βββ tasks.jsonl
βββ interleaved_demo.jsonl
Features
Video Observations
- observation.images.head: Head camera view (480x640x3, 30fps)
- observation.images.hand_left: Left hand camera view (480x640x3, 30fps)
- observation.images.hand_right: Right hand camera view (480x640x3, 30fps)
Robot States
- observation.states.joint.position: 14 joint positions (7 per arm)
- observation.states.joint.current_value: 14 joint current values
- observation.states.effector.position: 2 gripper positions
- observation.states.end.position: 2 end-effector positions (3D)
- observation.states.end.orientation: 2 end-effector orientations (quaternion)
- observation.states.head.position: 2 head positions (yaw, pitch)
- observation.states.robot.position: 3 robot base positions
- observation.states.robot.orientation: 4 robot base orientations
- observation.states.waist.position: 2 waist positions (pitch, lift)
Actions
- actions.joint.position: 14 joint position targets
- actions.effector.position: 2 gripper position targets
- actions.end.position: 2 end-effector position targets (3D)
- actions.end.orientation: 2 end-effector orientation targets (quaternion)
- actions.head.position: 2 head position targets
- actions.robot.velocity: 2 robot base velocities
- actions.waist.position: 2 waist position targets
Usage
Loading with LeRobot
from lerobot.datasets.lerobot_dataset import LeRobotDatasetMetadata
from eo.data.lerobot_dataset import LeRobotDataset
meta = LeRobotDatasetMetadata(
repo_id="IPEC-COMMUNITY/demos25",
root="./demos25",
)
dataset = LeRobotDataset(
repo_id="IPEC-COMMUNITY/demos25",
root="./demos25",
delta_timestamps={
k: [i / meta.fps for i in range(0, 50)]
for k in ["actions.joint.position", "actions.effector.position"]
}
)
Loading with EO-1 Framework
from eo.data.lerobot_dataset import LeRobotDataset
from eo.data.schema import LerobotConfig
dataset = LeRobotDataset(
repo_id="IPEC-COMMUNITY/demos25",
root="./demos25",
select_video_keys=[
"observation.images.head",
"observation.images.hand_left",
"observation.images.hand_right"
],
select_state_keys=[
"observation.states.joint.position",
"observation.states.effector.position"
],
select_action_keys=[
"actions.joint.position",
"actions.effector.position"
],
delta_timestamps={
k: [i / 30 for i in range(0, 1500)]
for k in ["actions.joint.position", "actions.effector.position"]
}
)
Citation
If you use this dataset in your research, please cite:
@dataset{demos25_2024,
title={Demos25: Dual-Arm Robot Manipulation Dataset for Supermarket Packing},
author={IPEC-COMMUNITY},
year={2024},
url={https://huggingface.co/datasets/IPEC-COMMUNITY/demos25}
}
License
This dataset is released under the MIT License.
Contact
For questions or issues, please contact the IPEC-COMMUNITY team.