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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/
β”œβ”€β”€ data/
β”‚   └── chunk-000/
β”‚       β”œβ”€β”€ episode_000000.parquet
β”‚       β”œβ”€β”€ episode_000001.parquet
β”‚       └── ...
β”œβ”€β”€ videos/
β”‚   └── chunk-000/
β”‚       β”œβ”€β”€ observation.images.head/
β”‚       β”œβ”€β”€ observation.images.hand_left/
β”‚       └── observation.images.hand_right/
β”œβ”€β”€ meta/
β”‚   β”œβ”€β”€ info.json
β”‚   β”œβ”€β”€ episodes.jsonl
β”‚   β”œβ”€β”€ episodes_stats.jsonl
β”‚   └── tasks.jsonl
└── 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

# Load metadata
meta = LeRobotDatasetMetadata(
    repo_id="IPEC-COMMUNITY/demos25",
    root="./demos25",
)

# Load dataset
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.

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