metadata

license: mit
dataset_info:
  features:
    - name: action
      dtype: numpy
    - name: observation.state
      dtype: numpy
    - name: observation.images.phone
      dtype: video
    - name: observation.images.gripper
      dtype: video
  splits:
    - name: train
      num_examples: 100
  task_categories:
    - robotics
tags:
  - robotics
  - augmented
  - robot-manipulation
  - data-augmentation

LeRobot Augmented Dataset

This dataset is an augmented version of the original LeRobot dataset. The augmentation expands the dataset by creating 4 versions of each original episode:

Original data - preserved as-is
Horizontally flipped images - original action/state vectors
Shoulder pan negated - original images with shoulder pan values negated in action/state vectors
Both flipped and negated - horizontally flipped images with negated shoulder pan values

Augmentation Process

The augmentation process quadruples the size of the dataset by creating three variants of each original episode:

Image flipping: Horizontally flipping camera frames to simulate the robot operating from the opposite side
Action negation: Negating shoulder pan values to simulate opposite directional movement
Combined augmentation: Both flipping images and negating shoulder pan values

This 4x expansion provides more diverse training data for robotic control tasks, helping models generalize better to different perspectives and movement directions.

Original Task

The dataset contains episodes where a robot is performing the task: "Pick up the black pen and place it in the mug."

Structure

The dataset maintains the same structure as the original:

data/: Contains episode data in parquet format (4x the original amount)
videos/: Contains video recordings of episodes (4x the original amount)
meta/: Contains metadata about the dataset