aleleanza/diffusion-policy-vac-fridge
Robotics • Updated
Datasets:
Search is not available for this dataset
timestamp float64 | frame_index int64 | episode_index int64 | task_index int64 | observation.state list | observation.wrench list | observation.admittance_params list | observation.stiffness_cmd float64 | observation.zeta float64 | observation.target_pose list | action.user_cmd list | action.vel_cmd list | action.absolute list | action.delta list | next.done bool |
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End of preview. Expand in Data Studio
VAC — Fridge (variable impedance pick, single-camera)
Kinesthetic teleoperation dataset for a variable-impedance pick task (the "fridge" scenario) under a Variable Admittance Controller (VAC), recorded on a Doosan M0609 arm with an Inspire RH56 hand and a Bota wrist force/torque sensor. LeRobot v2 format (Parquet + MP4).
- Task:
variable impedance pick— grasp/manipulate with compliance (stiffness + damping) modulated online by the operator. - Episodes: 200 · Frames: 54,833 · Rate: 20 Hz
- Robot:
doosan_m0609_inspire_rh56 - Camera (1):
observation.images.camera— single RGB stream, 640×480
Companion to the dual-camera pipe-insertion dataset
aleleanza/vac-pipe-dual-cam; same VAC recording stack, earlier single-camera campaign.
Why this dataset
It logs not just kinematics + vision but the full admittance state and the operator's
online stiffness/damping commands, so you can learn policies that output compliance
(predict K, ζ) rather than only motion. A synchronized Bota wrench stream makes it
suitable for force-conditioned imitation learning.
Feature schema (per timestep)
| Key | Dim | Meaning |
|---|---|---|
observation.state |
12 | TCP pos_{x,y,z} + rotvec_{x,y,z} + 6 Inspire hand joints |
observation.wrench |
6 | Bota FT in base frame: Fx,Fy,Fz (N), Tx,Ty,Tz (Nm) |
observation.admittance_params |
4 | K_trans (N/m), K_rot (Nm/rad), B_trans, B_rot |
observation.stiffness_cmd |
1 | Commanded translational stiffness K_trans_cmd (N/m) |
observation.zeta |
1 | Commanded damping ratio ζ (default 1.2) |
observation.target_pose |
— | Admittance target pose |
observation.images.camera |
640×480 | Single RGB camera |
action.user_cmd |
6 | Operator delta command d{x,y,z,rx,ry,rz} (pre-admittance) |
action.vel_cmd |
6 | Cartesian velocity vx,vy,vz (mm/s), wx,wy,wz (deg/s) (post-admittance) |
action.absolute |
12 | Absolute TCP + hand target |
action.delta |
— | Delta TCP target |
next.done |
1 | Episode termination flag |
The Inspire hand is operated as a binary open/grasp gripper in the downstream
policies. action.user_cmd is the operator intent before the admittance filter;
action.vel_cmd is the velocity executed after it — policies can imitate either side.
Layout (LeRobot v2)
dataset/
├── meta/{info.json, episodes.jsonl, tasks.jsonl}
├── data/chunk-000/episode_NNNNNN.parquet
└── videos/chunk-000/observation.images.camera/episode_NNNNNN.mp4
Usage
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("aleleanza/vac-fridge-single-cam")
print(ds.num_episodes, ds.num_frames, ds.fps)
Hardware setup
- Arm: Doosan M0609 (6-DoF collaborative) · Hand: Inspire RH56 (binary open/grasp)
- F/T: Bota Systems wrist sensor (
/bota_ft_sensor/wrench), tared per trial - Control: Variable Admittance Controller — operator modulates stiffness
Kand damping ζ online; admittance integrates the external wrench into compliant motion. - Recording: kinesthetic teleop via the project's
lerobot_recorder.
Related
- Models:
aleleanza/diffusion-policy-vac-fridge— 8-variant input/output Diffusion Policy ablation trained on this dataset. - Collection: VAC — Fridge.
Citation
Recorded at SUPSI as part of the VAC project (Doosan M0609 variable-admittance manipulation).
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Models trained or fine-tuned on aleleanza/vac-fridge-single-cam