knpt/yam_bimanual_tomato

Dataset Card for YAM bimanual — tomato placement

Preview

Egocentric camera view — bimanual robot picking up the red tomato and placing it in the box.

Interactive visualizer: huggingface.co/spaces/lerobot/visualize_dataset

Overview

20 teleoperated episodes of a bimanual robot arm picking up a red tomato and placing it in a box. Recorded on real hardware at 40 Hz with three RGB cameras, converted to LeRobot v3.0.

Key Specifications

Format	LeRobot v3.0
Episodes	20
Frames	27,464
Duration	11.4 min (24.5–45.3 s per episode, mean 34.3 s)
Control rate	40 Hz
Robot	YAM bimanual — 2 x 6-DoF arms + 1-DoF gripper each (14 DoF)
Cameras	3 x 480x640 RGB, AV1 / yuv420p, 40 fps
Size on disk	~300 MB
Task instruction	"pick up the red tomato and place it in the box"

Dataset Structure

Key	Shape	Dtype	Notes
observation.state	(14,)	float32	measured joint positions
action	(14,)	float32	commanded joint positions (teleop leader)
observation.images.egocentric	(3, 480, 640)	float32	view of the whole cell
observation.images.wrist_left	(3, 480, 640)	float32	left wrist camera
observation.images.wrist_right	(3, 480, 640)	float32	right wrist camera
timestamp, frame_index, episode_index, index, task_index	scalar		LeRobot standard

State and action share one 14-element ordering, with real joint names rather than generic indices:

left_yam_joint1 … left_yam_joint6, left_yam_gripper,
right_yam_joint1 … right_yam_joint6, right_yam_gripper

Arm joints are radians; grippers are normalised to [0, 1].

Uses

• Imitation learning / behaviour cloning for bimanual manipulation.
• Vision-language-action model post-training.

Dataset Creation

Bilateral teleoperation: an operator moves leader arms, follower arms track, and both streams are logged, resampled to a common 40 Hz row rate at conversion. Video is encoded AV1 / yuv420p. A single human teleoperator produced all episodes. No personal data is deliberately included.

Citation

BibTeX:

@misc{patel2026yambimanualtomato,
  author = {Patel, Kevin},
  title  = {YAM bimanual --- tomato placement},
  year   = {2026},
  note   = {Teleoperated demonstrations, LeRobot v3.0 format}
}