xiangxin0923/realworld_taskumi

UMI Firm and Gentle Pick-and-Place

LeRobot v2.1 dataset with 175 episodes, 23,332 frames, six tasks, and a sampling rate of 20 Hz.

Each episode is trimmed after the object has been released into the basket and the gripper has just separated. Empty-handed return motion and subsequent waiting are excluded. Cut points were visually reviewed per episode using third-view and wrist images, including the actual final 20 Hz sample. All streams are clipped to the same source timestamp before resampling, and the final action repeats the trimmed endpoint. The 175 episodes contain 23,332 frames (92–196 per episode), reduced from 34,287 untrimmed frames. Original recordings are retained separately.

The third-view, wrist, and current left/right tactile images are embedded in the Parquet files as 224 x 224 RGB images. No external video or image files are required. The dataset viewer reads only data/chunk-*/episode_*.parquet; meta/ contains the LeRobot metadata.

task_index	Task	Episodes
0	Firmly pick up the Vitasoy and put it into the basket.	30
1	Gently pick up the Vitasoy and put it into the basket.	28
2	Firmly pick up the Coca-Cola and put it into the basket.	31
3	Gently pick up the Coca-Cola and put it into the basket.	29
4	Firmly pick up the cookie and put it into the basket.	30
5	Gently pick up the cookie and put it into the basket.	27

Features include 7-dimensional state, 13-dimensional actions, force history (8, 6), and marker motion (9, 440, 2). Pose features use metres and rotation vectors in radians; the gripper is normalized with 0 closed and 1 open. The action target is shifted to the next timestep, with the final target repeated.

The UMI trajectories use the Task820 SDK reference pose [251.542175, -5.547043, 207.964020, 82.510735, -88.606949, 97.333672] in millimetres and XYZ Euler degrees before the standard Tabero EEF mapping. Tactile images use the current_lr layout.

Six episodes with confirmed missing tactile streams or severe VR interruptions were excluded before conversion. The release preserves the remaining recorded trajectories and marker samples; it does not repair marker timestamp pairing or other recorded discontinuities.