Datasets:
This dataset was created using LeRobot.
Dataset Description
Curated HandUMI dataset derived locally from local/tblock-all. Tasks: put the t block in the puzzle. Removed source episodes: [50, 52, 53, 55, 56, 58, 64].
- Homepage: https://github.com/murobotics-ai/handumi-sw
- Paper: [More Information Needed]
- License: other
What was removed, and why
This dataset is tblock-all with 7 episodes removed. Every removal has the same
cause: after retargeting to the Piper, the arm's own links intersect each other for a
sustained part of the episode. That is measured on the collision meshes, not on the
conservative capsule fit, and it describes a pose the hardware cannot adopt.
episode in tblock-all |
recorded as | frames | self-colliding frames | max penetration | screening verdict |
|---|---|---|---|---|---|
| 50 | tblock3 ep10 |
417 | 156 (37.4%) | 0.49 cm | reject |
| 52 | tblock3 ep12 |
217 | 90 (41.5%) | 1.36 cm | warning only |
| 53 | tblock3 ep13 |
177 | 31 (17.5%) | 0.58 cm | warning only |
| 55 | tblock3 ep15 |
211 | 28 (13.3%) | 0.34 cm | warning only |
| 56 | tblock3 ep16 |
327 | 133 (40.7%) | 0.60 cm | reject |
| 58 | tblock3 ep18 |
160 | 18 (11.2%) | 0.05 cm | warning only |
| 64 | tblock3 ep24 |
374 | 149 (39.8%) | 2.96 cm | reject |
All seven come from the same recording session. Note the last column: screening grades
retarget_self_collision as a warning, so four of these seven were accepted by the
automated review. --exclude-rejected alone would have kept them. They were removed by a
reviewer after watching the replay, which is the split the pipeline is built around --
mechanical failures are removed automatically, judgement calls are not.
Removed: 1,883 frames, 3.5% of the source. Result: 194 episodes, 51,951 frames.
What was deliberately kept
Two groups the automated review flagged are still here, on purpose.
Six episodes screening rejected (44, 45, 47, 49, 54, 57 in tblock-all numbering).
Their retargeted position error exceeds the 3 cm ceiling on more than 1% of frames, which
is what makes retarget_position_error a rejection. Inspecting them showed the cause is
not reachability: the joint step at every one of those peaks is exactly 0.35 rad, the
replay.max_joint_delta rate cap in configs/robots/piper.yaml. The solver clamps during
a fast segment, the arm falls behind its target for 5 to 9 frames, then catches up. Each
excursion lasts 0.17 to 0.30 s, and the rest of those episodes solve at 0.3 to 0.6 cm.
Removing them would discard 41 good frames for every frame above the ceiling.
Episodes flagged retarget_rotation_outlier. That finding compares an episode's mean
orientation error against three times the dataset median, so it reports "unlike the rest
of this dataset" rather than "wrong". Here it identifies the two smaller sessions, whose
tool grip differs from the session contributing most of the episodes. That is recording
diversity, and removing it would leave a dataset that is one session with decoration.
Provenance
tblock-all merges three recording sessions of the same task. Before the merge, 11
episodes were removed from two of them for a different reason: they are the reset clips
that take the block out of the puzzle, recorded as their own episodes and labelled
with the same task. They pass every recording-quality check -- the flaw is the direction
of the demonstration, which no signal-quality threshold can see. They are not in
tblock-all and so not here either.
Full lineage for every episode is in
meta/handumi_curation.json, which maps each episode here
back to its tblock-all index, and in that dataset's meta/handumi_merge.json, which
maps those back to the session and episode they were recorded as.
Scope
The removals are specific to the Piper. Self-collision was computed on the trajectory
retargeted for that arm; a different embodiment would produce a different list. Use
murobotics/tblock-all -- the
robot-agnostic source, which holds the recorded operator poses and nothing robot-specific
-- as the starting point for any other robot.
Screening reports do not carry across curation, because they index the source dataset's
episode numbers. Re-run handumi dataset qa on this dataset before converting it.
Reproducing this dataset
handumi dataset curate <tblock-all> \
--output tblock-all-piper-clean \
--exclude 50,52,53,55,56,58,64
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "handumi_raw",
"total_episodes": 194,
"total_frames": 51951,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:194"
},
"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",
"features": {
"observation.images.left_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.workspace": {
"dtype": "video",
"shape": [
376,
672,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 376,
"video.width": 672,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.state": {
"dtype": "float32",
"shape": [
16
],
"names": [
"left_x",
"left_y",
"left_z",
"left_qx",
"left_qy",
"left_qz",
"left_qw",
"right_x",
"right_y",
"right_z",
"right_qx",
"right_qy",
"right_qz",
"right_qw",
"left_gripper_width",
"right_gripper_width"
]
},
"action": {
"dtype": "float32",
"shape": [
16
],
"names": [
"left_x",
"left_y",
"left_z",
"left_qx",
"left_qy",
"left_qz",
"left_qw",
"right_x",
"right_y",
"right_z",
"right_qx",
"right_qy",
"right_qz",
"right_qw",
"left_gripper_width",
"right_gripper_width"
]
},
"observation.feetech.left_ticks": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.feetech.left_width_mm": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"observation.feetech.left_normalized": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"observation.feetech.right_ticks": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.feetech.right_width_mm": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"observation.feetech.right_normalized": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"observation.feetech.sample_time_ns": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.feetech.sequence": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.feetech.healthy": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.tracking.left_device_controller_pose": {
"dtype": "float32",
"shape": [
7
],
"names": [
"x",
"y",
"z",
"qx",
"qy",
"qz",
"qw"
]
},
"observation.tracking.left_tracked": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.tracking.right_device_controller_pose": {
"dtype": "float32",
"shape": [
7
],
"names": [
"x",
"y",
"z",
"qx",
"qy",
"qz",
"qw"
]
},
"observation.tracking.right_tracked": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.tracking.device_hmd_pose": {
"dtype": "float32",
"shape": [
7
],
"names": [
"x",
"y",
"z",
"qx",
"qy",
"qz",
"qw"
]
},
"observation.tracking.workspace_from_device_pose": {
"dtype": "float32",
"shape": [
7
],
"names": [
"x",
"y",
"z",
"qx",
"qy",
"qz",
"qw"
]
},
"observation.tracking.device_time_ns": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.tracking.pc_monotonic_ns": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.tracking.aligned_time_ns": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.tracking.sequence": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.valid": {
"dtype": "int64",
"shape": [
8
],
"names": [
"left_device_tracked",
"left_pose_valid",
"right_device_tracked",
"right_pose_valid",
"hmd_tracked",
"clock_synced",
"connected",
"streaming"
]
},
"observation.sync.target_time_ns": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.sync.record_time_ns": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.camera.left_wrist.sample_time_ns": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.camera.left_wrist.sequence": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.camera.left_wrist.healthy": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.camera.right_wrist.sample_time_ns": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.camera.right_wrist.sequence": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.camera.right_wrist.healthy": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.camera.workspace.sample_time_ns": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.camera.workspace.sequence": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.camera.workspace.healthy": {
"dtype": "int64",
"shape": [
1
],
"names": 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
}
},
"handumi": {
"audio": {
"enabled": false,
"key": "observation.audio",
"path": "audio/{audio_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.wav",
"container": "wav",
"encoding": "pcm_s16le",
"sample_width_bytes": 2,
"episode_aligned": true,
"frame_aligned": true,
"timestamp_clock": "pc_monotonic",
"sample_index_origin": "episode_start_time_ns"
},
"camera_fps": 30,
"camera_resolution": [
376,
1344
],
"camera_stale_timeout_s": 0.25,
"capture_schema": "synchronized_sources",
"controller_tcp_calibration": {
"schema_version": 2,
"source_path": "configs/calibration/controller_tcp/pico.yaml",
"sha256": "bc7f91fe00e19a657696b8f4a20eb65a281cd22a41332d65f28b41db71152eb0",
"applied_to_state": false,
"frame_convention": "pose7=[x,y,z,qx,qy,qz,qw], meters, xyzw quaternion",
"controller_to_gripper_tcp": {
"left": {
"position": [
0.11120329797267914,
-0.18318161368370056,
-0.05264820158481598
],
"quaternion": [
0.5149461627006531,
-0.039195578545331955,
0.00036387675208970904,
-0.8563258647918701
]
},
"right": {
"position": [
-0.11341612040996552,
-0.18593284487724304,
-0.03647836670279503
],
"quaternion": [
0.40989723801612854,
-0.476044625043869,
0.3014245927333832,
-0.7172929048538208
]
}
},
"source_robot": "piper",
"source_gripper": "ARX5_beta",
"tracking_device": "pico",
"controller_mount": "handumi_v1"
},
"feetech_sample_hz": 100.0,
"gripper_stale_timeout_s": 0.1,
"max_sync_skew_s": 0.06,
"recording_device": "pico",
"sensor_loss_timeout_s": 1.0,
"sources": {
"tracking": {
"enabled": true
},
"feetech": {
"enabled": true
},
"audio": {
"enabled": false
},
"cameras": {
"left_wrist": {
"enabled": true
},
"right_wrist": {
"enabled": true
},
"workspace": {
"enabled": true
}
}
},
"state_semantics": "workspace_controller_pose7_plus_gripper_widths",
"sync_lag_s": 0.04,
"target_robot": {
"name": "piper",
"config_path": "configs/robots/piper.yaml",
"sha256": "39275da04fc730a868edc1e17a9d8520eab392c39e7f032ee6f05b23d46e68d4",
"configuration": {
"kind": "piper",
"urdf": "assets/piper/piper.urdf",
"mjcf": "assets/piper/piper.xml",
"pkg_root": "assets/piper",
"mjcf_joint_prefix_map": {
"left_": "izq_",
"right_": "der_"
},
"arms": {
"left": {
"ee_link": "left_tcp",
"joint_names": [
"left_joint1",
"left_joint2",
"left_joint3",
"left_joint4",
"left_joint5",
"left_joint6",
"left_joint7"
],
"gripper_joints": [
{
"name": "left_joint7",
"open": 0.035
}
]
},
"right": {
"ee_link": "right_tcp",
"joint_names": [
"right_joint1",
"right_joint2",
"right_joint3",
"right_joint4",
"right_joint5",
"right_joint6",
"right_joint7"
],
"gripper_joints": [
{
"name": "right_joint7",
"open": 0.035
}
]
}
},
"home_q": [
0.0,
0.0,
0.0,
0.0,
0.2617994,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.4363323,
0.0,
0.0
],
"gripper_max_width_m": 0.066,
"handumi_tool": {
"gripper": "ARX5_beta",
"controller_mount": "handumi_v1"
},
"controller_tcp_calibrations": {
"meta": "configs/calibration/controller_tcp/meta_ARX5_beta.yaml",
"pico": "configs/calibration/controller_tcp/pico.yaml"
},
"ik_weights": {
"pos": 125.0,
"ori": 20.0,
"rest": 20.0,
"max_joint_delta": 0.03490659,
"max_reach": 0.7
},
"real": {
"backend": "piper_can",
"command_rate_hz": 100,
"max_joint_speed_deg_s": 180,
"max_joint_acceleration_deg_s2": 720,
"home_max_joint_speed_deg_s": 20,
"home_timeout_s": 30,
"home_tolerance_deg": 3,
"startup_speed_percent": 10,
"speed_percent": 80,
"gripper_effort": 1000
}
}
},
"tracking_loss_timeout_s": 1.0,
"tracking_schema": "controller_raw_compact",
"tracking_workspace": "table",
"merge": {
"schema_version": 1,
"sources": [
{
"repo_id": "local/tblock",
"total_episodes": 40,
"total_frames": 10469,
"output_episode_range": [
0,
40
]
},
{
"repo_id": "local/tblock3_clean",
"total_episodes": 44,
"total_frames": 11038,
"output_episode_range": [
40,
84
]
},
{
"repo_id": "local/tblock4_clean",
"total_episodes": 117,
"total_frames": 32327,
"output_episode_range": [
84,
201
]
}
],
"unified_task": "put the t block in the puzzle",
"source_tasks": [
"put the t block in the puzzle",
"put the t in the puzzle"
]
},
"curation": {
"schema_version": 1,
"source_dataset": "local/tblock-all",
"source_total_episodes": 201,
"source_total_frames": 53834,
"analysis_report": "handumi_analysis.json",
"removed_source_episode_indices": [
50,
52,
53,
55,
56,
58,
64
],
"removed_automatically": [],
"removed_by_reviewer": [
50,
52,
53,
55,
56,
58,
64
],
"removed_frames": 1883
}
}
}
Citation
BibTeX:
[More Information Needed]
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