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Datasets:
LeRobot-worldwide-hackathon
/
119-Forloop-delicate-handling

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
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Dask
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action
sequence
observation.state
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End of preview. Expand in Data Studio

Intro

Imagine robots in hospitals handling human tissue during surgery.

In restaurants, assembling your burger without crushing the tomato. In agriculture, picking ripe fruit without bruising.

In elder care, helping dress someone with the gentleness of a human touch.

This simple donut isn't just a snack on a stick—it's proof that robots can learn the subtle art of being gentle. And that changes everything.

Team

Video (robot trained using this dataset, ACT policy for 40k steps): link

Train from scratch:

python lerobot/scripts/train.py \
    --dataset.repo_id=siakovlev/forloop_donut_on_stick_050 \
    --policy.type=act \
    --output_dir=outputs/train/forloop_donut_on_stick_policy_050 \
    --job_name=forloop_job \
    --policy.device=cuda

Train (fine-tune existing policy):

python lerobot/scripts/train.py \
    --dataset.repo_id=siakovlev/forloop_donut_on_stick_020_val \
    --policy.path=siakovlev/forloop_donut_on_stick_policy_050 \
    --output_dir=outputs/train/forloop_donut_on_stick_policy_020 \
    --job_name=forloop_job \
    --policy.device=cuda \
    --save_freq=4000 \

Recording config (for data recording and evaluation):

python -m lerobot.record \
    --robot.type=so101_follower \
    --robot.port=/dev/tty.usbmodem5A460850691 \
    --robot.cameras="{usb: {type: opencv, index_or_path: 0, width: 640, height: 480, fps: 30},
     wrist: {type: opencv, index_or_path: 1, width: 640, height: 480, fps: 30}}" \
    --robot.id=purple \
    --teleop.type=so101_leader \
    --teleop.port=/dev/tty.usbmodem5A460837821 \
    --teleop.id=lead \
    --dataset.repo_id=siakovlev/forloop_donut_on_stick_020_val \
    --dataset.episode_time_s=15 \
    --dataset.reset_time_s=5 \
    --dataset.num_episodes=20 \
    --dataset.single_task="Donut on stick" \
    --display_data=true

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "so101_follower",
    "total_episodes": 50,
    "total_frames": 19005,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ]
        },
        "observation.images.usb": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "episode_index": {
            "dtype": "int64",
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            "names": null
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        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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Downloads last month
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License:
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Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
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Number of rows:
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