NoahWeiss/farm_uf850_bottle

FARM UF850 — Bottle Pick-and-Place with a UFactory UF850

LeRobot-format dataset of teleoperated single-arm manipulation collected on a UFactory UF850 (6-DoF arm with parallel gripper) using a Meta Quest as the teleop controller. 200 episodes across 2 natural-language tasks: moving a bottle between a desk and a box.

Collected with the FARM edge agent (repository) as a CS153 final project. Intended for a full fine-tune of π0.5.

Quick stats

Episodes	200
Total frames	59,183
Duration	32.9 min
Episode length (median)	9.3 s (279 frames); range 31–851
FPS	30
Robot	UFactory UF850, 6-DoF + parallel gripper (7-D state/action)
Cameras	2 × Intel RealSense D435 (base + wrist), 640×480, h264
Unique tasks	2
Format	LeRobot v2.0

Tasks

count	task
101	Picking up the bottle and placing it on the box
99	Picking up the bottle off of the box and putting it on the desk

State / action space

7-dim float32 in both observation.state and action:

idx	name	unit	observed range
0	joint1	rad	[-1.017, 1.237]
1	joint2	rad	[-1.508, 0.361]
2	joint3	rad	[-2.417, -0.060]
3	joint4	rad	[-3.083, 2.689]
4	joint5	rad	[ 0.051, 2.019]
5	joint6	rad	[-2.275, 1.767]
6	gripper	0 (open) → 1 (closed)	[0.000, 1.000]

action[t] is the next-step absolute state (observation.state[t+1]); the final frame repeats its own state. Downstream training (openpi) converts the 6 joint dims to deltas and keeps the gripper absolute.

Cameras

• observation.images.base — fixed base view, 640×480 RGB, h264
• observation.images.wrist — wrist-mounted view, 640×480 RGB, h264

Layout

meta/{info.json, episodes.jsonl, tasks.jsonl, stats.json}
data/chunk-000/episode_NNNNNN.parquet
videos/chunk-000/observation.images.{base,wrist}/episode_NNNNNN.mp4