Datasets:
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observation.state list | action list | timestamp float32 0 22.1 | frame_index int64 0 332 | episode_index int64 0 116 | index int64 0 31.7k | task_index int64 0 0 |
|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
This dataset was created using LeRobot.
assembly_bench
Contact-rich assembly demonstrations (NIST 8 mm round peg insert) from a privileged scripted IK expert in NVIDIA Isaac Lab (Arena). Actions are native DROID joint-position (7 absolute arm joint targets + binary gripper). Every episode starts from the DROID home pose.
- Robot: Franka Panda + Robotiq 2F-85 (DROID); DifferentialIKController -> stiff PD.
- Control / record rate: 15 Hz.
- Episodes: 117 (tight + loose fits; tolerance not encoded in the instruction).
Layout
| key | dtype | shape |
|---|---|---|
| observation.images.front | video H.264 CRF 20 | (224,224,3) |
| observation.images.wrist | video H.264 CRF 20 | (224,224,3) |
| observation.state | float32 | (8,) joint(7)+gripper(1) |
| action | float32 | (8,) 7 joint targets + gripper |
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