lukasskellijs/pi05_assembly_bench_2_full_vlm_6k
Robotics • 4B • Updated • 22
Search is not available for this dataset
observation.state list | observation.joint_vel list | observation.eef_pos list | observation.eef_quat list | action list | timestamp float32 0 54.1 | frame_index int64 0 812 | episode_index int64 0 1.5k | index int64 0 509k | task_index int64 0 14 |
|---|---|---|---|---|---|---|---|---|---|
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] | [
-0.005585314705967903,
0.0015454518143087626,
0.0020073738414794207,
-0.003988110460340977,
0.000522092916071415,
0.0022782753221690655,
-0.0004070254508405924
] | [
0.3743428587913513,
-0.06976699829101562,
0.177591010928154
] | [
0.00039337456109933555,
0.7074554562568665,
-0.0002979054406750947,
0.7067577838897705
] | [
-0.0412084199488163,
0.05178577080368996,
-0.13744312524795532,
-2.7840535640716553,
0.023521186783909798,
2.835271120071411,
-0.19997821748256683,
1
] | 6.6 | 99 | 0 | 99 | 0 |
End of preview. Expand in Data Studio
This dataset was created using LeRobot.
assembly_bench_2
Contact-rich assembly demonstrations (NIST peg/gear/nut) generated by a privileged scripted IK expert in NVIDIA Isaac Lab (Arena). Actions are the native DROID joint-position command (7 absolute arm joint targets + binary gripper), so pi0.5/openpi/GR00T consume them directly.
- Robot: Franka Panda + Robotiq 2F-85 (DROID platform); expert drives a DifferentialIKController (dls) into stiff PD joint-position control.
- Control / record rate: 15 Hz.
Tasks (per-episode instruction)
| task | demos |
|---|---|
pick up the M12 nut and thread it onto the bolt |
100 |
pick up the M16 nut and thread it onto the bolt |
100 |
pick up the M20 nut and thread it onto the bolt |
100 |
pick up the M8 nut and thread it onto the bolt |
100 |
Observation / action / state layout
| key | dtype | shape | meaning / units |
|---|---|---|---|
observation.images.front |
video (H.264, CRF 20) | (180,320,3) | third-person RGB, uint8, DROID-RLDS resolution |
observation.images.wrist |
video (H.264, CRF 20) | (180,320,3) | eye-in-hand RGB, uint8, DROID-RLDS resolution |
observation.state |
float32 | (8,) | joint_position (7, rad) + gripper_position (1, 0=open 1=closed) |
observation.joint_vel |
float32 | (7,) | arm joint velocities (rad/s, no gripper) |
observation.eef_pos |
float32 | (3,) | end-effector position, robot base frame (m) |
observation.eef_quat |
float32 | (4,) | end-effector orientation, world frame, wxyz |
action |
float32 | (8,) | 7 absolute arm joint-position targets (rad) + gripper (1: 1=close, 0=open) |
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