armanakbari4/ur3-3task-lerobot

EmbodyX UR3 — three bimanual manipulation tasks (LeRobot v2.1)

Real-world teleoperated demonstrations on a bimanual dual-arm UR3, released as the three tasks used to fine-tune armanakbari4/imagewam-ur3-3task.

task	episodes	frames	fps	instruction
blue_basket_lerobot	100	29,653	15	"put the medicine then the measuring tape inside the blue basket"
drawer_lerobot	100	32,982	15	"open the drawer, put the white box inside the drawer then close the drawer"
stacking_cubes_lerobot	100	37,042	15	"put the green cube on top of the black cube and put the red cube on top of the green cube"

300 episodes / 99,677 frames total, ~809 MB.

Format

LeRobot v2.1, one directory per task, each with data/, videos/, and meta/.

Observations — three RGB cameras at 240×320:

• observation.images.camera_top
• observation.images.camera_wrist_left
• observation.images.camera_wrist_right

Action & state — 14-dim each, absolute joint space, laid out as [L_arm(6) | L_gripper | R_arm(6) | R_gripper]. Grippers are binary (0 = open, 1 = closed).

from datasets import load_dataset
# or use the LeRobot loader against a local clone:
#   huggingface-cli download armanakbari4/ur3-3task-lerobot --repo-type dataset --local-dir ur3

Known issue: declared codec is wrong for one task

meta/info.json declares video.codec: av1 for all three tasks. That is correct for drawer_lerobot and stacking_cubes_lerobot, but wrong for blue_basket_lerobot, whose videos were re-encoded to h264 without the metadata being updated. Verified with ffprobe:

task	declared	actual
blue_basket_lerobot	av1	h264
drawer_lerobot	av1	av1
stacking_cubes_lerobot	av1	av1

Decoding is driven by the container rather than info.json, so this is harmless in practice — but don't go looking for an AV1 decoder problem when reading blue_basket.

Decoding note (AV1)

Two of the three tasks are genuinely AV1. If your torchcodec install fails to load, LeRobot falls back to a pyav decoder that can leak memory heavily on these files and OOM dataloader workers. On a CUDA-11 torch build this usually means the NPP libraries are missing (libnppicc.so.11); installing nvidia-npp-cu11 and putting it on LD_LIBRARY_PATH fixes it.

Provenance

Collected by EmbodyX on a bimanual UR3 setup. Released here as the exact subset used for the ImageWAM fine-tune above.