cmwaters/stone-cup-recordings

Stone Cup Raw SO-101 Recordings

Raw teleoperation recordings for the Stone Cup task: put the black stone in the green cup.

Contents

• Recording folders: 160
• Complete recordings: 159
• Files: 37917
• JPEG frames: 37469
• Source path at upload time: /home/cal/rocky/examples/stone_cup/recordings

Each recording directory contains metadata.json, telemetry.jsonl, and camera frames under frames/overhead and frames/wrist.

The recordings were collected with an SO-101 setup through the Rocky Stone Cup dashboard. They are raw source recordings, not the converted LeRobot training dataset.

Conversion

In the Rocky repo, convert these raw recordings into a LeRobot image dataset with:

uv run python examples/stone_cup/convert_recordings_to_lerobot.py \
  --recordings-dir examples/stone_cup/recordings \
  --dataset-root outputs/datasets/stone_cup_joint_v1 \
  --repo-id cmwaters/stone_cup_joint_v1 \
  --fps 10 \
  --image-size 224 \
  --force

For the follower-joints-at-t+1 action target used in later ACT experiments:

uv run python examples/stone_cup/convert_recordings_to_lerobot.py \
  --recordings-dir examples/stone_cup/recordings \
  --dataset-root outputs/datasets/stone_cup_follower_tplus1_v1 \
  --repo-id cmwaters/stone_cup_follower_tplus1_v1 \
  --action-source follower \
  --action-offset 1 \
  --fps 10 \
  --image-size 224 \
  --force