TRICOS.AI DeskOrganizationV1

A 600-episode desktop manipulation dataset recorded from human demonstrations, in LeRobot v3.0 format.

Published by TRICOS.AI, an embodied-AI data infrastructure company.

Overview

Property	Value
Episodes	600
Tasks	12 language-conditioned tasks (6 objects x left/right box), 50 each
Frames	199,675
Frame rate	60 Hz
Vision	Stereo pair, 1920 x 1200, calibrated and undistorted
State	Head pose, both wrist poses (position + quaternion), gripper state
Format	LeRobot v3.0

Tasks

Twelve instructions pair six object categories (tissue, clear tape, glue stick, pen, bowl, desktop items) with a left or right box. The instruction text is stored in Chinese and is the task label in meta/tasks.parquet.

Structure

DeskOrganizationV1/
├── data/chunk-000 .. chunk-005/file-000 .. file-099.parquet   # one per episode
├── videos/
│   ├── observation.images.stereo_left/chunk-000 .. chunk-005/*.mp4
│   └── observation.images.stereo_right/chunk-000 .. chunk-005/*.mp4
├── meta/
│   ├── info.json        # version, fps, totals, chunks_size
│   ├── tasks.parquet    # 12 language instructions
│   ├── stats.json       # per-feature statistics
│   ├── camera.json      # per-episode left-camera intrinsics
│   └── episodes/        # per-episode length, file locations, timestamps
├── VIDEO_ROTATION.md
├── README.md
└── LICENSE

Each chunk directory groups 100 episodes; inside it each episode has its own parquet and its own video file per camera.

Features

Feature	Dim	Description
observation.images.stereo_left	video	Left RGB stream, 1920x1200
observation.images.stereo_right	video	Right RGB stream, 1920x1200
observation.head_pose	7	Head pose (xyz + quaternion xyzw)
observation.left_hand_pose	7	Left wrist pose
observation.right_hand_pose	7	Right wrist pose
observation.state	21	Head + both wrists, concatenated
observation.gripper	2	Gripper state: 1 = grasping, 0 = open, NaN = unknown
timestamp	1	Time within the episode (seconds)
frame_index	1	Frame index within the episode
episode_index / index / task_index	1	Episode, global row and task indices

Pose convention: positions in metres, quaternions in xyzw order, one shared world frame that is not gravity-aligned.

Pose origin

observation.head_pose is the left camera's optical-centre pose.

The two *_hand_pose columns are not measured at the IMU: they are the pose of the wrist AprilTag centre, in the canonical tag frame (tag +z points away from the hand). The tracker used for this dataset mounts the 20 mm tag on the outer face of the enclosure, 17.5 mm above the hand-side surface:

p_hand = p_tag + R_tag * (0, 0, -17.51) mm

For the IMU-origin transform, contact TRICOS.AI.

Usage

from lerobot.datasets.lerobot_dataset import LeRobotDataset

ds = LeRobotDataset("DeskOrganizationV1", root="DeskOrganizationV1")
frame = ds[0]

Video orientation. The camera is mounted upside down. Using the videos as stored needs no change. For 2D policies the left eye is the recommended RGB input. If you rotate the videos 180 degrees, or change their resolution, apply the matching transforms to the poses — see VIDEO_ROTATION.md.

Quality

• Every frame is checked against the source capture; every video segment is decoded and timestamp-checked.
• Vision, poses and gripper state are aligned per frame.
• Images are calibrated and undistorted.
• Gripper states were reviewed and confirmed for all 600 episodes.

Privacy & Consent

All demonstrations were collected with informed consent for public release. The camera is mounted overhead and is not aimed at the operator's face. If you believe a recording should not be public, contact us and we will remove it.

License

Released under the Creative Commons Attribution-NonCommercial 4.0 International License (CC BY-NC 4.0). Commercial licensing: contact TRICOS.AI.

Citation

@misc{tricos_deskorganizationv1,
  title        = {TRICOS.AI DeskOrganizationV1: A Desktop Manipulation Demonstration Dataset},
  author       = {{TRICOS.AI}},
  year         = {2026},
  howpublished = {Hugging Face Datasets},
  note         = {600 episodes, 12 language-conditioned tasks, LeRobot v3.0}
}

Contact

TRICOS.AI — embodied-AI data infrastructure.