Search is not available for this dataset
observation.state list | action list | timestamp float32 0 7 | frame_index int64 0 210 | episode_index int64 0 5 | index int64 0 1.27k | task_index int64 0 0 |
|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
PickUP V1.1
Unity Robot Pick & Place Simulation Dataset
PickUP is a Unity-based robot manipulation dataset designed for pick-and-place research and LeRobot-compatible experimentation.
⚠️ Simulation Data — Not Physical Robot Data
LeRobotDataset v3.0 | 6 Episodes | 1,266 Frames | 30 FPS | Top Camera + 6-DoF State/Action
Demo
Experience PickUP V1.1 in action:
🎬 Watch Demo Video (pickup_v1_1_top_demo.mp4)
The robot approaches a red cube, grasps it, lifts and transfers it to the green tray, releases it, and returns home.
[ Ready ] ──> [ Approach ] ──> [ Precision Grasp ]
│
▼
[ Home Return ] <── [ Release & Settle ] <── [ Spatial Transfer ] <── [ Vertical Lift (+50mm) ]
What is PickUP?
PickUP is a robot manipulation dataset generated within a high-fidelity Unity physics simulation environment utilizing an ArticulationBody-based 6-DoF robotic manipulator.
Core Task Definition
- Instruction:
"Pick up the red cube and place it in the green tray." - Target Object: Red cubic block ($35\text{ mm} \times 35\text{ mm} \times 35\text{ mm}$, mass $100\text{ g}$).
- Target Receptacle: Green receptacle tray located at $[0.180, 0.370, 0.220]\text{ m}$.
- Spatial Coverage: 6 distinct cube spawn zones uniformly covering the workspace:
left_frontleft_backcenter_frontcenter_backright_frontright_back
Dataset Overview
| Item | PickUP V1.1 Specification |
|---|---|
| Environment | Unity Physics Simulation (PickUP Simulator V1.0) |
| Dataset Format | Official LeRobotDataset v3.0 |
| Task | Single-Arm Cube Pick & Place |
| Public Episodes | 6 Demonstration Episodes |
| Total Frames | 1,266 Frames |
| Frames / Episode | 211 Frames / Episode |
| Frame Rate | 30.0 FPS |
| Episode Duration | 7.03 seconds |
| Visual Observation | Single Top Overview Camera (observation.images.top) |
| Image Resolution | $240 \times 180$ RGB (H.264 video stream) |
| Robot State | 6-DoF Joint Angles Tensor (observation.state) |
| Robot Action | 6-DoF Target Joint Positions Tensor (action) |
| Spawn Zones | 6 Workspace Quadrants |
| License | Creative Commons Attribution 4.0 International (CC BY 4.0) |
Dataset Features
1. Visual Observation
observation.images.top: Fixed top-down RGB camera stream ($240 \times 180$, 30 FPS, $60^\circ$ FOV).
2. Robot Kinematics
observation.state: 6-dimensional robot joint angles:[shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper]action: 6-dimensional target joint action trajectory:[shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper]
3. Synchronization & Metadata
timestamp: Frame timestamp in seconds relative to episode start ($0.0\text{s} \sim 7.0\text{s}$).frame_index: Frame index within the episode ($0 \sim 210$).episode_index: Episode counter ($0 \sim 5$).index: Global sample counter ($0 \sim 1,265$).task_index: Task identifier (0).
Task Sequence
Each episode records the complete manipulation sequence from the initial cube position through placement and robot return:
- Phase 1: Approach — End-effector moves from ready pose to pre-grasp alignment.
- Phase 2: Precision Grasp — Parallel fingers close with bilateral contact on the cube.
- Phase 3: Vertical Lift — Cube is lifted $+50\text{ mm}$ vertically to ensure ground clearance.
- Phase 4: Spatial Transfer — 3D spatial trajectory interpolation toward the receptacle tray.
- Phase 5: Place & Release — Cube is lowered into the tray and gripper releases smoothly.
- Phase 6: Safe Home Return — Manipulator arm safely returns to the ready home pose while the cube remains centered in the tray.
Validation & Quality Assurance
The public V1.1 release was validated after remote deployment to Hugging Face:
- 6/6 Public Episodes PASS (100% task success rate)
- 1,266/1,266 Frames accessible with zero decode drops
- LeRobotDataset v3.0 Loader Integration PASS
- Cube below-table frames:
0 - Transport disappearances:
0 - Teleport events:
0 - Place failures:
0 - Tray containment failures:
0 - Bit-exact SHA256 integrity: 13/13 files verified against the release manifest.
V1.1 Release Notes
PickUP V1.1 replaces the initial V1.0 release with the following key improvements:
- Top Camera Kinematic Correction: Corrected the forward kinematics (FK) and rigid relative transform ($T_{ee}^{cube}$) to ensure the cube remains continuously visible and physically grounded above the table surface ($Y \ge 0.366\text{m}$).
- Wrist Camera Observation Removal: Removed the experimental
observation.images.wriststream due to link self-occlusion in the initial camera mount geometry. V1.1 focuses on high-fidelity Top Camera observation. - Comprehensive Verification: Validated across a 60-episode candidate pool before extracting the 6 public benchmark episodes.
Known Limitations
- Simulation Domain: Generated entirely in Unity physics simulation; real-world robot transfer requires domain randomization or fine-tuning.
- No Physical Robot Trajectories: Contains simulated trajectories only.
- Top Camera Only: V1.1 provides top-down visual observation only.
- Single Task Scope: Currently limited to single-object pick-and-place manipulation.
- Public Sample Size: The public release contains 6 benchmark sample episodes.
For full technical specifications and hardware boundary records, refer to docs/V1_LIMITATIONS_SUMMARY.md.
Intended Use
- Robot Learning Experiments: Testing imitation learning and behavioral cloning algorithms.
- Simulation-Based Research: Prototyping multi-modal policy architectures.
- LeRobot Ecosystem Integration: Validating LeRobotDataset v3.0 pipelines and data loaders.
- Robotics Education: Providing clean, standardized single-arm manipulation trajectories.
- Dataset Pipeline Prototyping: Benchmarking trajectory processing and evaluation tools.
Public Release vs. Master Candidate
- Public Release (Hugging Face): 6 Episodes / 1,266 Frames (1 episode per spawn zone).
- Master Candidate Dataset: The V1.1 public sample was selected from a separately validated 60-episode simulation candidate set.
Documentation
- 📋 Dataset Validation Report — Comprehensive 14-gate verification checklist and test results.
- 📝 V1.1 Release Notes & Changelog — Detailed history of corrections and enhancements.
- 📐 Known Limitations & Boundaries — Operational workspace limits and payload envelopes.
License
This dataset is distributed under the Creative Commons Attribution 4.0 International (CC BY 4.0) license.
Project Status
PickUP V1.1 — Public Release
Future versions may expand task diversity, camera configurations, object types, and robot configurations.
Korean Summary (요약)
PickUP V1.1은 Unity 물리 시뮬레이션 기반의 단일 로봇 암 큐브 Pick & Place 조작 데이터셋입니다. 공식 LeRobotDataset v3.0 표준을 준수하며, 6개 스폰 구역에서 수집된 6개 에피소드(1,266 프레임, 30 FPS, Top Camera + 6-DoF 상태/액션)로 구성되어 있습니다.
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