Search is not available for this dataset
observation.state listlengths 7 7 | action listlengths 7 7 | timestamp float32 0 38.2 | frame_index int64 0 1.15k | episode_index int64 0 423 | task_index int64 0 3 | index int64 0 129k |
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End of preview. Expand in Data Studio
farm_uf850_multiobject
424 teleoperated demonstrations of a UFactory UF850 arm doing 4 pick-and-place tasks with different objects, in LeRobot v2.0 format. Collected with the FARM VR-teleop harness (Meta Quest → ROS-TCP → π0.5). Intended for π0.5 GSE-robust (domain-randomized) fine-tuning.
Summary
| Episodes | 424 |
| Frames | 129,067 @ 30 fps (~72 min) |
| Tasks | 4 |
| Robot | uf850 (6 joints + parallel gripper) |
| Cameras | base, wrist (640×480, h264) |
Tasks (episodes):
Picking up the bottle and placing it on the box— 299Pick up the stuffed bear and place it on the box— 50Pick up the hat and place it on the box— 40Pick up the rubber duck and place it on the box— 35
Features
observation.state—float32[7]— 6 joint angles (rad) + gripper (0=open…1=closed)action—float32[7]— nextobservation.stateobservation.images.base/observation.images.wrist— video (h264 mp4 @ 30 fps)timestamp,frame_index,episode_index,task_index,index— scalars
Provenance & integrity
Exported from the full labeled set of FARM dataset4 via model/export_lerobot.py.
Every source episode was integrity-gated (both cameras present, frame count ==
metadata) and the export was frame-verified (MP4-vs-source PSNR 37–43 dB, no
channel swap, no black/dropped frames, state/action finite + in range). Superset
of the bottle-only NoahWeiss/farm_bottle_lora.
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