challenge-2026/challenge_data

PrimeBot Household Bimanual Manipulation Challenge Dataset

English | 中文

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English

Real-World Teleoperation Data

Teleoperation data is sponsored by PrimeBot. The dataset is constructed in the standard LeRobot V2.1 format. Example code for loading the dataset:

pip install "lerobot==0.3.3" "mmengine==0.10.7" "torch==2.7.0" "numpy==1.26.4" "torchcodec==0.5" "torchvision==0.22.0"

python dataloader/custom_lerobot_dataset.py

Training Set Description

The training set covers more than 12 real-world dual-arm manipulation tasks in household scenarios. All data includes frame-accurate language annotations. Partial task list:

Task ID	Task Description
1	Use the gripper to fully open the washing machine door.
2	Close the washing machine door tightly with the gripper.
3	Put these two pieces of clothing into the washer.
4	Take the clothing out of the washer and put it in the basket.
5	Pick up the laundry basket with both grippers.
6	Put the dirty clothes basket on the ground.
7	Pick up the clothing and put it on the sofa.
8	Put the clothing in the folding area.
9	Unfold the clothing and fold it neatly.
10	Place the folded clothing in the storage area.

Test Set Description

The test set follows exactly the same format as the training set. To prevent policies from overfitting to state data, two special adjustments are applied:

• The observation.state data in the test set contains random noise.
• All action fields in the test set are set to zero.

Considering the computing resources of participating teams and on-site testing constraints, the evaluation of this challenge will be conducted on no more than 4 tasks:

• Use the gripper to fully open the washing machine door.
• Close the washing machine door tightly with the gripper.
• Put these two pieces of clothing into the washer.
• Unfold the clothing and fold it neatly.

Online evaluation: Participants need to submit the predicted action trajectories on corresponding segments of the valid_set.

On-site evaluation: A base Docker image will be released in advance, with the inference framework and basic test environment pre-configured. Participants only need to implement the load_model and predict functions, and submit the complete Docker image for final evaluation.

Dataset Field Description

Images

The dataset includes three-view RGB images with a resolution of 1280×720 at 30 FPS. Field definitions:

Dataset Field	Source
observation.images.x2w_camera_head_realsense_compressed	Head camera
observation.images.x2w_camera_left_wrist_zedxonegs_rgb_raw_image_compressed	Left wrist camera
observation.images.x2w_camera_right_wrist_zedxonegs_rgb_raw_image_compressed	Right wrist camera

Language Instructions

All annotation information is stored in ${dataset_name}/meta/info.json. Language annotations are aligned to each frame. Taking a 1000-frame manipulation task as an example:

Segment	Segment 1	Segment 2	Segment 3	Segment 4
Frame Index	0–98	99–420	421–910	911–999
Annotation	Start remote operation.	Open the washing machine door.	Close the washing machine door.	End remote operation.

Proprioceptive Information

Including robot state (observation.state) and action (action), both with 89 dimensions, defined as follows:

1. Joint Position (Index 0–21)

Index	Source	Column Name	Physical Meaning	Unit
0	joint_state	folding_lower_joint	Folding lower joint angle	rad
1	joint_state	folding_upper_joint	Folding upper joint angle	rad
2	joint_state	waist_pitch_joint	Waist pitch joint angle	rad
3	joint_state	torso_yaw_joint	Torso yaw joint angle	rad
4	joint_state	head_yaw_joint	Head yaw joint angle	rad
5	joint_state	head_pitch_joint	Head pitch joint angle	rad
6	joint_state	left_shoulder_pitch_joint	Left shoulder pitch joint angle	rad
7	joint_state	left_shoulder_roll_joint	Left shoulder roll joint angle	rad
8	joint_state	left_shoulder_yaw_joint	Left shoulder yaw joint angle	rad
9	joint_state	left_elbow_pitch_joint	Left elbow pitch joint angle	rad
10	joint_state	left_wrist_roll_joint	Left wrist roll joint angle	rad
11	joint_state	left_wrist_yaw_joint	Left wrist yaw joint angle	rad
12	joint_state	left_wrist_pitch_joint	Left wrist pitch joint angle	rad
13	joint_state	right_shoulder_pitch_joint	Right shoulder pitch joint angle	rad
14	joint_state	right_shoulder_roll_joint	Right shoulder roll joint angle	rad
15	joint_state	right_shoulder_yaw_joint	Right shoulder yaw joint angle	rad
16	joint_state	right_elbow_pitch_joint	Right elbow pitch joint angle	rad
17	joint_state	right_wrist_roll_joint	Right wrist roll joint angle	rad
18	joint_state	right_wrist_yaw_joint	Right wrist yaw joint angle	rad
19	joint_state	right_wrist_pitch_joint	Right wrist pitch joint angle	rad
20	joint_state	left_finger_l_joint	Left finger joint angle	rad
21	joint_state	right_finger_l_joint	Right finger joint angle	rad

2. Joint Velocity (Index 22–43)

Index	Source	Column Name	Physical Meaning	Unit
22	joint_state	folding_lower_joint_velocity	Folding lower joint angular velocity	rad/s
23	joint_state	folding_upper_joint_velocity	Folding upper joint angular velocity	rad/s
24	joint_state	waist_pitch_joint_velocity	Waist pitch joint angular velocity	rad/s
25	joint_state	torso_yaw_joint_velocity	Torso yaw joint angular velocity	rad/s
26	joint_state	head_yaw_joint_velocity	Head yaw joint angular velocity	rad/s
27	joint_state	head_pitch_joint_velocity	Head pitch joint angular velocity	rad/s
28	joint_state	left_shoulder_pitch_joint_velocity	Left shoulder pitch joint angular velocity	rad/s
29	joint_state	left_shoulder_roll_joint_velocity	Left shoulder roll joint angular velocity	rad/s
30	joint_state	left_shoulder_yaw_joint_velocity	Left shoulder yaw joint angular velocity	rad/s
31	joint_state	left_elbow_pitch_joint_velocity	Left elbow pitch joint angular velocity	rad/s
32	joint_state	left_wrist_roll_joint_velocity	Left wrist roll joint angular velocity	rad/s
33	joint_state	left_wrist_yaw_joint_velocity	Left wrist yaw joint angular velocity	rad/s
34	joint_state	left_wrist_pitch_joint_velocity	Left wrist pitch joint angular velocity	rad/s
35	joint_state	right_shoulder_pitch_joint_velocity	Right shoulder pitch joint angular velocity	rad/s
36	joint_state	right_shoulder_roll_joint_velocity	Right shoulder roll joint angular velocity	rad/s
37	joint_state	right_shoulder_yaw_joint_velocity	Right shoulder yaw joint angular velocity	rad/s
38	joint_state	right_elbow_pitch_joint_velocity	Right elbow pitch joint angular velocity	rad/s
39	joint_state	right_wrist_roll_joint_velocity	Right wrist roll joint angular velocity	rad/s
40	joint_state	right_wrist_yaw_joint_velocity	Right wrist yaw joint angular velocity	rad/s
41	joint_state	right_wrist_pitch_joint_velocity	Right wrist pitch joint angular velocity	rad/s
42	joint_state	left_finger_l_joint_velocity	Left finger joint angular velocity	rad/s
43	joint_state	right_finger_l_joint_velocity	Right finger joint angular velocity	rad/s

3. Joint Effort (Index 44–65)

Index	Source	Column Name	Physical Meaning	Unit
44	joint_state	folding_lower_joint_effort	Folding lower joint output torque	N·m
45	joint_state	folding_upper_joint_effort	Folding upper joint output torque	N·m
46	joint_state	waist_pitch_joint_effort	Waist pitch joint output torque	N·m
47	joint_state	torso_yaw_joint_effort	Torso yaw joint output torque	N·m
48	joint_state	head_yaw_joint_effort	Head yaw joint output torque	N·m
49	joint_state	head_pitch_joint_effort	Head pitch joint output torque	N·m
50	joint_state	left_shoulder_pitch_joint_effort	Left shoulder pitch joint output torque	N·m
51	joint_state	left_shoulder_roll_joint_effort	Left shoulder roll joint output torque	N·m
52	joint_state	left_shoulder_yaw_joint_effort	Left shoulder yaw joint output torque	N·m
53	joint_state	left_elbow_pitch_joint_effort	Left elbow pitch joint output torque	N·m
54	joint_state	left_wrist_roll_joint_effort	Left wrist roll joint output torque	N·m
55	joint_state	left_wrist_yaw_joint_effort	Left wrist yaw joint output torque	N·m
56	joint_state	left_wrist_pitch_joint_effort	Left wrist pitch joint output torque	N·m
57	joint_state	right_shoulder_pitch_joint_effort	Right shoulder pitch joint output torque	N·m
58	joint_state	right_shoulder_roll_joint_effort	Right shoulder roll joint output torque	N·m
59	joint_state	right_shoulder_yaw_joint_effort	Right shoulder yaw joint output torque	N·m
60	joint_state	right_elbow_pitch_joint_effort	Right elbow pitch joint output torque	N·m
61	joint_state	right_wrist_roll_joint_effort	Right wrist roll joint output torque	N·m
62	joint_state	right_wrist_yaw_joint_effort	Right wrist yaw joint output torque	N·m
63	joint_state	right_wrist_pitch_joint_effort	Right wrist pitch joint output torque	N·m
64	joint_state	left_finger_l_joint_effort	Left finger joint output torque	N·m
65	joint_state	right_finger_l_joint_effort	Right finger joint output torque	N·m

4. End-Effector (Gripper) Pose (Index 66–79)

Index	Source	Column Name	Physical Meaning	Unit
66	gripper_pose	left_gripper_x	Left gripper X position	m
67	gripper_pose	left_gripper_y	Left gripper Y position	m
68	gripper_pose	left_gripper_z	Left gripper Z position	m
69	gripper_pose	left_gripper_qx	Left gripper quaternion X component	-
70	gripper_pose	left_gripper_qy	Left gripper quaternion Y component	-
71	gripper_pose	left_gripper_qz	Left gripper quaternion Z component	-
72	gripper_pose	left_gripper_qw	Left gripper quaternion W component	-
73	gripper_pose	right_gripper_x	Right gripper X position	m
74	gripper_pose	right_gripper_y	Right gripper Y position	m
75	gripper_pose	right_gripper_z	Right gripper Z position	m
76	gripper_pose	right_gripper_qx	Right gripper quaternion X component	-
77	gripper_pose	right_gripper_qy	Right gripper quaternion Y component	-
78	gripper_pose	right_gripper_qz	Right gripper quaternion Z component	-
79	gripper_pose	right_gripper_qw	Right gripper quaternion W component	-

5. Wheel Joint State (Index 80–88)

Index	Source	Column Name	Physical Meaning	Unit
80	wheel_joint_state	wheel_front_left_position	Front left wheel angular position	rad
81	wheel_joint_state	wheel_front_right_position	Front right wheel angular position	rad
82	wheel_joint_state	wheel_rear_position	Rear wheel angular position	rad
83	wheel_joint_state	wheel_front_left_velocity	Front left wheel angular velocity	rad/s
84	wheel_joint_state	wheel_front_right_velocity	Front right wheel angular velocity	rad/s
85	wheel_joint_state	wheel_rear_velocity	Rear wheel angular velocity	rad/s
86	wheel_joint_state	wheel_front_left_effort	Front left wheel output torque	N·m
87	wheel_joint_state	wheel_front_right_effort	Front right wheel output torque	N·m
88	wheel_joint_state	wheel_rear_effort	Rear wheel output torque	N·m

Robot Inference Interface

Although the full action fields are recorded in the dataset, only robot joint positions are used as control commands during inference. The complete field definitions:

Index	Column Name	Physical Meaning	Unit
0	folding_lower_joint	Folding lower joint angle	rad
1	folding_upper_joint	Folding upper joint angle	rad
2	waist_pitch_joint	Waist pitch joint angle	rad
3	torso_yaw_joint	Torso yaw joint angle	rad
4	head_yaw_joint	Head yaw joint angle	rad
5	head_pitch_joint	Head pitch joint angle	rad
6	left_shoulder_pitch_joint	Left shoulder pitch joint angle	rad
7	left_shoulder_roll_joint	Left shoulder roll joint angle	rad
8	left_shoulder_yaw_joint	Left shoulder yaw joint angle	rad
9	left_elbow_pitch_joint	Left elbow pitch joint angle	rad
10	left_wrist_roll_joint	Left wrist roll joint angle	rad
11	left_wrist_yaw_joint	Left wrist yaw joint angle	rad
12	left_wrist_pitch_joint	Left wrist pitch joint angle	rad
13	right_shoulder_pitch_joint	Right shoulder pitch joint angle	rad
14	right_shoulder_roll_joint	Right shoulder roll joint angle	rad
15	right_shoulder_yaw_joint	Right shoulder yaw joint angle	rad
16	right_elbow_pitch_joint	Right elbow pitch joint angle	rad
17	right_wrist_roll_joint	Right wrist roll joint angle	rad
18	right_wrist_yaw_joint	Right wrist yaw joint angle	rad
19	right_wrist_pitch_joint	Right wrist pitch joint angle	rad
20	left_finger_l_joint	Left finger joint angle	rad
21	right_finger_l_joint	Right finger joint angle	rad
22	wheel_front_left_velocity	Front left wheel angular velocity	rad/s
23	wheel_front_right_velocity	Front right wheel angular velocity	rad/s
24	wheel_rear_velocity	Rear wheel angular velocity	rad/s

UMI Data

UMI data is sponsored by crobotia. The dataset is constructed in the standard LeRobot v2.1 dataset with five bimanual manipulation episodes and left/right wrist-mounted ego-camera data.

pip install "lerobot==0.3.3"

The dataset has been successfully loaded and frame-tested with Python 3.11, LeRobot 0.3.3, PyTorch 2.7.1, TorchVision 0.22.1, and the pyav video backend.

from lerobot.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset(
    repo_id="local/umi_sample_data_v21",
    root="/path/to/umi_sample_data_v21",
)

Dataset Overview

Episode	task_index	Task	Frames	Duration
episode_000000	0	fold the red shirt	1410	47 s
episode_000001	1	fold the black shirt	1050	35 s
episode_000002	2	fold the yellow shirt	870	29 s
episode_000003	1	fold the black shirt	1050	35 s
episode_000004	3	fold the brown shirt	1560	52 s

The dataset contains 5,940 frames and four unique tasks. All episodes are recorded at 30 FPS, and the ego videos have a resolution of 960 × 960.

Directory Structure

umi_sample_data_v21/
├── data/chunk-000/                       # Five episode Parquet files
├── videos/chunk-000/
│   ├── observation.images.left_ego/      # Left-hand ego videos
│   └── observation.images.right_ego/     # Right-hand ego videos
├── meta/
│   ├── info.json                         # Dataset and feature definitions
│   ├── tasks.jsonl                       # Task-to-task_index mapping
│   ├── episodes.jsonl                    # Episode lengths and tasks
│   ├── episodes_stats.jsonl              # Per-episode statistics
│   └── calibration.json                  # Camera and IMU calibration
├── annotation/                           # Episode-level and action-step annotations
└── imu/                                  # Left/right IMU data

Dataset Fields

Images

Dataset field	Source
observation.images.left_ego	Left wrist-mounted RGB ego camera, 960 × 960
observation.images.right_ego	Right wrist-mounted RGB ego camera, 960 × 960

Proprioception and Actions

Both observation.state and action are 16-dimensional and use the same field order:

Indices	Fields	Meaning	Unit
0–2	left_x, left_y, left_z	Left end-effector position	m
3–6	left_qw, left_qx, left_qy, left_qz	Left end-effector quaternion (w, x, y, z)	-
7	left_gripper	Left gripper opening angle	°
8–10	right_x, right_y, right_z	Right end-effector position	m
11–14	right_qw, right_qx, right_qy, right_qz	Right end-effector quaternion (w, x, y, z)	-
15	right_gripper	Right gripper opening angle	°

observation.state represents the current-frame state. Except for the final frame, action[t] = state[t+1]. The final action retains the next-step target from the original capture sequence and therefore may differ from the final state of the episode. The left and right poses use independent coordinate systems and cannot be used directly to compute the relative distance or pose between the two hands.

Index Fields

Field	Type	Description
timestamp	float32	Time within the episode, in seconds
frame_index	int64	Zero-based frame index within the episode
episode_index	int64	Episode index in the range 0–4
index	int64	Global frame index in the range 0–5,939
task_index	int64	Task identifier mapped by meta/tasks.jsonl

Annotations and IMU

File	Description
annotation/episode_subtasks_*.jsonl	Episode-level task, target-object, and success annotations
annotation/action_steps_*.jsonl	Fine-grained action-step segments
imu/episode_*_{left,right}.csv	Left/right timestamps, three-axis angular velocity, and three-axis acceleration

Annotation intervals use the half-open convention [start_frame_index, end_frame_index): the start frame is included and the end frame is excluded.

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中文

真机遥操作数据

真机数据由启元机器人提供，数据集均以标准的 LeRobot V2.1 格式构造，示例Dataset代码，

pip install "lerobot==0.3.3" "mmengine==0.10.7" "torch==2.7.0" "numpy==1.26.4" "torchcodec==0.5" "torchvision==0.22.0"

python dataloader/custom_lerobot_dataset.py

训练集说明

训练集覆盖超过12种真实的家庭场景双臂操作任务，所有数据均包含精确到帧的语言标注，部分任务列表如下

任务编号	任务描述
1	Use the gripper to fully open the washing machine door.
2	Close the washing machine door tightly with the gripper.
3	Put these two pieces of clothing into the washer.
4	Take the clothing out of the washer and put it in the basket.
5	Pick up the laundry basket with both grippers.
6	Put the dirty clothes basket on the ground.
7	Pick up the clothing and put it on the sofa.
8	Put the clothing in the folding area.
9	Unfold the clothing and fold it neatly.
10	Place the folded clothing in the storage area.

测试集说明

测试集与训练集格式完全一致，为防止策略过拟合到state上，有以下两点特殊处理，

• 测试集中observation.state数据含有随机噪声
• 测试集中action字段被全部置零

考虑到参赛团队算力压力与线下测试资源，本次挑战赛在不超过4个任务上进行评测，

• Use the gripper to fully open the washing machine door.
• Close the washing machine door tightly with the gripper.
• Put these two pieces of clothing into the washer.
• Unfold the clothing and fold it neatly.

线上测评时，参赛者需提交在valid_set相关片段上预测的action轨迹。

线下评测时，我们会提前发布base docker，规定好推理框架和基本测试环境，参赛者完善load_model和predict函数，最终提交完整可运行的docker镜像。

数据集字段说明

图像

包含三视角RGB图像，分辨率为1280*720，帧率30FPS，字段定义如下

数据集字段	数据源
observation.images.x2w_camera_head_realsense_compressed	头部相机
observation.images.x2w_camera_left_wrist_zedxonegs_rgb_raw_image_compressed	左手相机
observation.images.x2w_camera_right_wrist_zedxonegs_rgb_raw_image_compressed	右手相机

语言指令

数据集全部标注信息见${dataset_name}/meta/info.json。语言标注具体到帧，以一条1000帧的操作任务为例说明如下

分段	片段1	片段2	片段3	片段4
索引	0~98	99~420	421~910	911~999
标注	Start remote operation.	Open the washing machine door.	Close the washing machine door.	End remote operation.

本体感知信息

包括机器人状态信息（observation.state）与动作信息（action），维度均为89维，定义如下

1. 关节位置（Joint Position，索引 0-21）

索引	数据源	列名	物理意义	单位
0	joint_state	folding_lower_joint	折叠下关节角度	rad
1	joint_state	folding_upper_joint	折叠上关节角度	rad
2	joint_state	waist_pitch_joint	腰部俯仰关节角度	rad
3	joint_state	torso_yaw_joint	躯干偏航关节角度	rad
4	joint_state	head_yaw_joint	头部偏航关节角度	rad
5	joint_state	head_pitch_joint	头部俯仰关节角度	rad
6	joint_state	left_shoulder_pitch_joint	左肩俯仰关节角度	rad
7	joint_state	left_shoulder_roll_joint	左肩翻滚关节角度	rad
8	joint_state	left_shoulder_yaw_joint	左肩偏航关节角度	rad
9	joint_state	left_elbow_pitch_joint	左肘俯仰关节角度	rad
10	joint_state	left_wrist_roll_joint	左腕翻滚关节角度	rad
11	joint_state	left_wrist_yaw_joint	左腕偏航关节角度	rad
12	joint_state	left_wrist_pitch_joint	左腕俯仰关节角度	rad
13	joint_state	right_shoulder_pitch_joint	右肩俯仰关节角度	rad
14	joint_state	right_shoulder_roll_joint	右肩翻滚关节角度	rad
15	joint_state	right_shoulder_yaw_joint	右肩偏航关节角度	rad
16	joint_state	right_elbow_pitch_joint	右肘俯仰关节角度	rad
17	joint_state	right_wrist_roll_joint	右腕翻滚关节角度	rad
18	joint_state	right_wrist_yaw_joint	右腕偏航关节角度	rad
19	joint_state	right_wrist_pitch_joint	右腕俯仰关节角度	rad
20	joint_state	left_finger_l_joint	左手指关节角度	rad
21	joint_state	right_finger_l_joint	右手指关节角度	rad

2. 关节速度（Joint Velocity，索引 22-43）

索引	数据源	列名	物理意义	单位
22	joint_state	folding_lower_joint_velocity	折叠下关节角速度	rad/s
23	joint_state	folding_upper_joint_velocity	折叠上关节角速度	rad/s
24	joint_state	waist_pitch_joint_velocity	腰部俯仰关节角速度	rad/s
25	joint_state	torso_yaw_joint_velocity	躯干偏航关节角速度	rad/s
26	joint_state	head_yaw_joint_velocity	头部偏航关节角速度	rad/s
27	joint_state	head_pitch_joint_velocity	头部俯仰关节角速度	rad/s
28	joint_state	left_shoulder_pitch_joint_velocity	左肩俯仰关节角速度	rad/s
29	joint_state	left_shoulder_roll_joint_velocity	左肩翻滚关节角速度	rad/s
30	joint_state	left_shoulder_yaw_joint_velocity	左肩偏航关节角速度	rad/s
31	joint_state	left_elbow_pitch_joint_velocity	左肘俯仰关节角速度	rad/s
32	joint_state	left_wrist_roll_joint_velocity	左腕翻滚关节角速度	rad/s
33	joint_state	left_wrist_yaw_joint_velocity	左腕偏航关节角速度	rad/s
34	joint_state	left_wrist_pitch_joint_velocity	左腕俯仰关节角速度	rad/s
35	joint_state	right_shoulder_pitch_joint_velocity	右肩俯仰关节角速度	rad/s
36	joint_state	right_shoulder_roll_joint_velocity	右肩翻滚关节角速度	rad/s
37	joint_state	right_shoulder_yaw_joint_velocity	右肩偏航关节角速度	rad/s
38	joint_state	right_elbow_pitch_joint_velocity	右肘俯仰关节角速度	rad/s
39	joint_state	right_wrist_roll_joint_velocity	右腕翻滚关节角速度	rad/s
40	joint_state	right_wrist_yaw_joint_velocity	右腕偏航关节角速度	rad/s
41	joint_state	right_wrist_pitch_joint_velocity	右腕俯仰关节角速度	rad/s
42	joint_state	left_finger_l_joint_velocity	左手指关节角速度	rad/s
43	joint_state	right_finger_l_joint_velocity	右手指关节角速度	rad/s

3. 关节力矩（Joint Effort，索引 44-65）

索引	数据源	列名	物理意义	单位
44	joint_state	folding_lower_joint_effort	折叠下关节输出力矩	N·m
45	joint_state	folding_upper_joint_effort	折叠上关节输出力矩	N·m
46	joint_state	waist_pitch_joint_effort	腰部俯仰关节输出力矩	N·m
47	joint_state	torso_yaw_joint_effort	躯干偏航关节输出力矩	N·m
48	joint_state	head_yaw_joint_effort	头部偏航关节输出力矩	N·m
49	joint_state	head_pitch_joint_effort	头部俯仰关节输出力矩	N·m
50	joint_state	left_shoulder_pitch_joint_effort	左肩俯仰关节输出力矩	N·m
51	joint_state	left_shoulder_roll_joint_effort	左肩翻滚关节输出力矩	N·m
52	joint_state	left_shoulder_yaw_joint_effort	左肩偏航关节输出力矩	N·m
53	joint_state	left_elbow_pitch_joint_effort	左肘俯仰关节输出力矩	N·m
54	joint_state	left_wrist_roll_joint_effort	左腕翻滚关节输出力矩	N·m
55	joint_state	left_wrist_yaw_joint_effort	左腕偏航关节输出力矩	N·m
56	joint_state	left_wrist_pitch_joint_effort	左腕俯仰关节输出力矩	N·m
57	joint_state	right_shoulder_pitch_joint_effort	右肩俯仰关节输出力矩	N·m
58	joint_state	right_shoulder_roll_joint_effort	右肩翻滚关节输出力矩	N·m
59	joint_state	right_shoulder_yaw_joint_effort	右肩偏航关节输出力矩	N·m
60	joint_state	right_elbow_pitch_joint_effort	右肘俯仰关节输出力矩	N·m
61	joint_state	right_wrist_roll_joint_effort	右腕翻滚关节输出力矩	N·m
62	joint_state	right_wrist_yaw_joint_effort	右腕偏航关节输出力矩	N·m
63	joint_state	right_wrist_pitch_joint_effort	右腕俯仰关节输出力矩	N·m
64	joint_state	left_finger_l_joint_effort	左手指关节输出力矩	N·m
65	joint_state	right_finger_l_joint_effort	右手指关节输出力矩	N·m

4. 末端执行器位姿（Gripper Pose，索引 66-79）

索引	数据源	列名	物理意义	单位
66	gripper_pose	left_gripper_x	左末端执行器 X 位置	m
67	gripper_pose	left_gripper_y	左末端执行器 Y 位置	m
68	gripper_pose	left_gripper_z	左末端执行器 Z 位置	m
69	gripper_pose	left_gripper_qx	左末端执行器四元数 X 分量	-
70	gripper_pose	left_gripper_qy	左末端执行器四元数 Y 分量	-
71	gripper_pose	left_gripper_qz	左末端执行器四元数 Z 分量	-
72	gripper_pose	left_gripper_qw	左末端执行器四元数 W 分量	-
73	gripper_pose	right_gripper_x	右末端执行器 X 位置	m
74	gripper_pose	right_gripper_y	右末端执行器 Y 位置	m
75	gripper_pose	right_gripper_z	右末端执行器 Z 位置	m
76	gripper_pose	right_gripper_qx	右末端执行器四元数 X 分量	-
77	gripper_pose	right_gripper_qy	右末端执行器四元数 Y 分量	-
78	gripper_pose	right_gripper_qz	右末端执行器四元数 Z 分量	-
79	gripper_pose	right_gripper_qw	右末端执行器四元数 W 分量	-

5. 轮子关节状态（Wheel Joint State，索引 80-88）

索引	数据源	列名	物理意义	单位
80	wheel_joint_state	wheel_front_left_position	前左轮角度位置	rad
81	wheel_joint_state	wheel_front_right_position	前右轮角度位置	rad
82	wheel_joint_state	wheel_rear_position	后轮角度位置	rad
83	wheel_joint_state	wheel_front_left_velocity	前左轮角速度	rad/s
84	wheel_joint_state	wheel_front_right_velocity	前右轮角速度	rad/s
85	wheel_joint_state	wheel_rear_velocity	后轮角速度	rad/s
86	wheel_joint_state	wheel_front_left_effort	前左轮输出力矩	N·m
87	wheel_joint_state	wheel_front_right_effort	前右轮输出力矩	N·m
88	wheel_joint_state	wheel_rear_effort	后轮输出力矩	N·m

机器人推理接口

数据集中虽然记录了完整的action字段，但在推理中我们只选择机器人关节位置作为控制指令，完整字段定义如下

索引	列名	物理意义	单位
0	folding_lower_joint	折叠下关节角度	rad
1	folding_upper_joint	折叠上关节角度	rad
2	waist_pitch_joint	腰部俯仰关节角度	rad
3	torso_yaw_joint	躯干偏航关节角度	rad
4	head_yaw_joint	头部偏航关节角度	rad
5	head_pitch_joint	头部俯仰关节角度	rad
6	left_shoulder_pitch_joint	左肩俯仰关节角度	rad
7	left_shoulder_roll_joint	左肩翻滚关节角度	rad
8	left_shoulder_yaw_joint	左肩偏航关节角度	rad
9	left_elbow_pitch_joint	左肘俯仰关节角度	rad
10	left_wrist_roll_joint	左腕翻滚关节角度	rad
11	left_wrist_yaw_joint	左腕偏航关节角度	rad
12	left_wrist_pitch_joint	左腕俯仰关节角度	rad
13	right_shoulder_pitch_joint	右肩俯仰关节角度	rad
14	right_shoulder_roll_joint	右肩翻滚关节角度	rad
15	right_shoulder_yaw_joint	右肩偏航关节角度	rad
16	right_elbow_pitch_joint	右肘俯仰关节角度	rad
17	right_wrist_roll_joint	右腕翻滚关节角度	rad
18	right_wrist_yaw_joint	右腕偏航关节角度	rad
19	right_wrist_pitch_joint	右腕俯仰关节角度	rad
20	left_finger_l_joint	左手指关节角度	rad
21	right_finger_l_joint	右手指关节角度	rad
22	wheel_front_left_velocity	前左轮角速度	rad/s
23	wheel_front_right_velocity	前右轮角速度	rad/s
24	wheel_rear_velocity	后轮角速度	rad/s

UMI数据

UMI数据由上海朗智格机器人科技有限公司提供，构造为标准的 LeRobot v2.1 数据集，包含 5 个双手操作 episode，以及左、右手腕载 ego 相机数据。

pip install "lerobot==0.3.3"

已在 Python 3.11、LeRobot 0.3.3、PyTorch 2.7.1、TorchVision 0.22.1 和 pyav 视频后端下完成加载与抽帧验证。

from lerobot.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset(
    repo_id="local/umi_sample_data_v21",
    root="/path/to/umi_sample_data_v21",
)

数据概览

Episode	task_index	任务	帧数	时长
episode_000000	0	fold the red shirt	1410	47 s
episode_000001	1	fold the black shirt	1050	35 s
episode_000002	2	fold the yellow shirt	870	29 s
episode_000003	1	fold the black shirt	1050	35 s
episode_000004	3	fold the brown shirt	1560	52 s

数据集共 5940 帧、4 个唯一任务，帧率为 30 FPS，ego 视频分辨率为 960 × 960。

目录结构

umi_sample_data_v21/
├── data/chunk-000/                       # 5 个 episode Parquet 文件
├── videos/chunk-000/
│   ├── observation.images.left_ego/      # 左手 ego 视频
│   └── observation.images.right_ego/     # 右手 ego 视频
├── meta/
│   ├── info.json                         # 数据集与字段定义
│   ├── tasks.jsonl                       # 任务与 task_index 映射
│   ├── episodes.jsonl                    # episode 长度与任务
│   ├── episodes_stats.jsonl              # 每个 episode 的统计量
│   └── calibration.json                  # 相机与 IMU 标定参数
├── annotation/                           # episode 级任务和动作分段标注
└── imu/                                  # 左右手 IMU 数据

数据集字段说明

图像

数据集字段	数据源
observation.images.left_ego	左手腕载 RGB ego 相机，960 × 960
observation.images.right_ego	右手腕载 RGB ego 相机，960 × 960

本体感知与动作

observation.state 和 action 均为 16 维，字段顺序一致：

索引	字段顺序	物理意义	单位
0–2	left_x, left_y, left_z	左手末端位置	m
3–6	left_qw, left_qx, left_qy, left_qz	左手末端四元数 (w, x, y, z)	-
7	left_gripper	左夹爪开合角度	°
8–10	right_x, right_y, right_z	右手末端位置	m
11–14	right_qw, right_qx, right_qy, right_qz	右手末端四元数 (w, x, y, z)	-
15	right_gripper	右夹爪开合角度	°

observation.state 表示当前帧状态。除末帧外，action[t] = state[t+1]；末帧 action 保留原始采集序列的下一时刻目标，因此不一定等于本 episode 的末帧 state。左右手位姿使用独立坐标系，不能直接计算双手之间的相对距离或姿态。

索引字段

字段	类型	说明
timestamp	float32	episode 内时间，单位为秒
frame_index	int64	episode 内帧编号，从 0 开始
episode_index	int64	episode 编号，范围为 0–4
index	int64	数据集全局帧编号，范围为 0–5939
task_index	int64	任务编号，对应 meta/tasks.jsonl

标注与 IMU

文件	说明
annotation/episode_subtasks_*.jsonl	episode 级任务、目标物体与成功状态
annotation/action_steps_*.jsonl	细粒度动作分段
imu/episode_*_{left,right}.csv	左右手时间戳、三轴角速度和三轴加速度

标注区间采用 [start_frame_index, end_frame_index)，即包含起始帧、不包含结束帧。