👟 Shoe Inspection Dataset (LeRobot Format)

This dataset contains demonstration data for shoe inspection tasks collected using Trossen Robotics hardware and the LeRobot framework. It includes fine-grained, timestamp-based subtask annotations to facilitate advanced imitation learning and policy training.

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This dataset was created using LeRobot.

⚠️ Terms of Use & Licensing

This dataset is released under a custom non-commercial license for academic research only.

• ❌ No Commercial Use: Direct or indirect commercial use is strictly prohibited.
• ❌ No Redistribution: You may not redistribute, host, or share this dataset.
• 🎓 Academic Use Only: Allowed for academic research, publications, and presentations with proper attribution (XXXX).

Please read the full LICENSE file before downloading or using this dataset.

🌿 Available Branches & Variations

While the main branch contains the core visual and joint demonstration data, additional sensor modal data is available in a dedicated branch:

• main (Default): Core shoe inspection demonstrations (RGB camera, joint states, actions).
• sensor-data (Sub-branch): Extended dataset including Tactile Sensor and Force/Torque (F/T) Sensor modalities recorded simultaneously with the main task execution.

How to Access the Sensor Branch

You can switch branches directly on this Hugging Face page using the branch selector dropdown, or load it via the Hugging Face CLI / Python SDK by specifying the --revision or revision parameter:

from datasets import load_dataset

# Load the extended dataset with Tactile and Force sensor data
dataset = load_dataset(
    "vxe-physical-ai/dataset",
    revision="sensor-data"
)

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "fps": 30,
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "left_joint_0.pos",
                "left_joint_1.pos",
                "left_joint_2.pos",
                "left_joint_3.pos",
                "left_joint_4.pos",
                "left_joint_5.pos",
                "left_left_carriage_joint.pos",
                "right_joint_0.pos",
                "right_joint_1.pos",
                "right_joint_2.pos",
                "right_joint_3.pos",
                "right_joint_4.pos",
                "right_joint_5.pos",
                "right_left_carriage_joint.pos"
            ],
            "shape": [
                14
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "left_joint_0.pos",
                "left_joint_1.pos",
                "left_joint_2.pos",
                "left_joint_3.pos",
                "left_joint_4.pos",
                "left_joint_5.pos",
                "left_left_carriage_joint.pos",
                "right_joint_0.pos",
                "right_joint_1.pos",
                "right_joint_2.pos",
                "right_joint_3.pos",
                "right_joint_4.pos",
                "right_joint_5.pos",
                "right_left_carriage_joint.pos"
            ],
            "shape": [
                14
            ]
        },
        "observation.images.cam_high": {
            "dtype": "video",
            "shape": [
                240,
                424,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 240,
                "video.width": 424,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false,
                "video.crf": null,
                "video.fast_decode": null,
                "video.preset": null,
                "video.video_backend": "pyav",
                "video.extra_options": null,
                "video.g": null
            }
        },
        "observation.images.cam_low": {
            "dtype": "video",
            "shape": [
                240,
                424,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 240,
                "video.width": 424,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false,
                "video.crf": null,
                "video.fast_decode": null,
                "video.preset": null,
                "video.video_backend": "pyav",
                "video.extra_options": null,
                "video.g": null
            }
        },
        "observation.images.cam_left_wrist": {
            "dtype": "video",
            "shape": [
                240,
                424,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 240,
                "video.width": 424,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false,
                "video.crf": null,
                "video.fast_decode": null,
                "video.preset": null,
                "video.video_backend": "pyav",
                "video.extra_options": null,
                "video.g": null
            }
        },
        "observation.images.cam_right_wrist": {
            "dtype": "video",
            "shape": [
                240,
                424,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 240,
                "video.width": 424,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false,
                "video.crf": null,
                "video.fast_decode": null,
                "video.preset": null,
                "video.video_backend": "pyav",
                "video.extra_options": null,
                "video.g": null
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "subtask_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "name": null
        }
    },
    "total_episodes": 3461,
    "total_frames": 7262226,
    "total_tasks": 1,
    "total_subtasks": 15,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "robot_type": "bi_widowxai_follower_robot",
    "splits": {
        "train": "0:3461"
    }
}