--- license: cc-by-4.0 task_categories: - robotics tags: - LeRobot - robotics - FMB - pi05 - manipulation - insertion configs: - config_name: default data_files: data/*/*.parquet --- This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). ## Dataset Description FMB (Functional Manipulation Benchmark) **insert** primitive, converted to LeRobot v3.0 for pi0.5 (pi05) SFT. **Single-peg subset**: shape 2 / size L / length S — the ø49.81 mm cylinder (75 episodes). The full insert set is at `DAVIAN-Robotics/fmb-insert-4cam`; a hexagonal-peg subset is at `DAVIAN-Robotics/fmb-insert-1MS-4cam`. ## Source and license Derived from the FMB single-object manipulation dataset (`insert_only_*.npy`), released by the RAIL lab at UC Berkeley under **CC BY 4.0**. This derived dataset carries the same license. If you use it, cite the original work: ``` @article{luo2024fmb, title={FMB: a Functional Manipulation Benchmark for Generalizable Robotic Learning}, author={Luo, Jianlan and Xu, Charles and Liu, Fangchen and Tan, Liam and Lin, Zipeng and Wu, Jeffrey and Abbeel, Pieter and Levine, Sergey}, journal={arXiv preprint arXiv:2401.08553}, year={2024} } ``` Project page: https://functional-manipulation-benchmark.github.io/ ## What was kept and what was dropped Everything in the source `.npy` **except the four depth maps**, which were dropped for size (uint16 256x256 x4 = 512 KB/frame). The original `.npy` files remain the place to go for depth. - 4 RGB views, remapped to pi05 camera slots: `side_1` -> `base_0_rgb`, `wrist_1` -> `left_wrist_0_rgb`, `wrist_2` -> `right_wrist_0_rgb`, `side_2` -> `side_1_rgb` (the fourth is an extra slot beyond the 3 that `lerobot/pi05_base` was trained on) - `observation.state` (8) = `tcp_pose` (7) + `gripper` (1), the pi05 convention - `action` (7) = FMB's own commanded action: **normalized Cartesian delta [-1, 1] x 6 + gripper**. Not an absolute pose — do not apply a delta transform on top of it - Original fields preserved alongside: `tcp_pose` (7), `tcp_vel` (6), `gripper` (1), `joint_pos` (7), `joint_vel` (7), `tcp_force` (3), `tcp_torque` (3), `jacobian` (42, row-major 6x7), `primitive_id` (1), `object_meta` (6 = shape, size, length, color, angle, distractor) ## Caveats - **fps = 10 is an assumption.** FMB does not publish its control frequency; 10 Hz was inferred from a sample trajectory (16 cm TCP descent over 60 steps). It affects only LeRobot timestamps and chunk interpretation. - This subset is short: 2049 frames over 75 episodes (~27 steps each). A cylinder needs no yaw alignment, so its insertions finish faster than the other shapes. - Every episode's `object_info` was cross-checked against its filename during conversion. ## Visualize [Open in the LeRobot dataset visualizer](https://huggingface.co/spaces/lerobot/visualize_dataset?dataset=DAVIAN-Robotics/fmb-insert-2LS-4cam&episode=0) - **Homepage:** [More Information Needed] - **Paper:** [More Information Needed] - **License:** cc-by-4.0 ## Dataset Structure [meta/info.json](meta/info.json): ```json { "codebase_version": "v3.0", "robot_type": "franka", "total_episodes": 75, "total_frames": 2049, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 10, "splits": { "train": "0:75" }, "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.state": { "dtype": "float32", "shape": [ 8 ], "names": [ "x", "y", "z", "qw", "qx", "qy", "qz", "gripper" ] }, "action": { "dtype": "float32", "shape": [ 7 ], "names": [ "dx", "dy", "dz", "droll", "dpitch", "dyaw", "gripper" ] }, "observation.gripper": { "dtype": "float32", "shape": [ 1 ], "names": [ "gripper" ] }, "observation.jacobian": { "dtype": "float32", "shape": [ 42 ], "names": [ "j00", "j01", "j02", "j03", "j04", "j05", "j06", "j10", "j11", "j12", "j13", "j14", "j15", "j16", "j20", "j21", "j22", "j23", "j24", "j25", "j26", "j30", "j31", "j32", "j33", "j34", "j35", "j36", "j40", "j41", "j42", "j43", "j44", "j45", "j46", "j50", "j51", "j52", "j53", "j54", "j55", "j56" ] }, "observation.primitive_id": { "dtype": "float32", "shape": [ 1 ], "names": [ "primitive_id" ] }, "observation.object_meta": { "dtype": "float32", "shape": [ 6 ], "names": [ "shape", "size", "length", "color", "angle", "distractor" ] }, "observation.tcp_pose": { "dtype": "float32", "shape": [ 7 ], "names": [ "tcp_pose_0", "tcp_pose_1", "tcp_pose_2", "tcp_pose_3", "tcp_pose_4", "tcp_pose_5", "tcp_pose_6" ] }, "observation.tcp_vel": { "dtype": "float32", "shape": [ 6 ], "names": [ "tcp_vel_0", "tcp_vel_1", "tcp_vel_2", "tcp_vel_3", "tcp_vel_4", "tcp_vel_5" ] }, "observation.joint_pos": { "dtype": "float32", "shape": [ 7 ], "names": [ "joint_pos_0", "joint_pos_1", "joint_pos_2", "joint_pos_3", "joint_pos_4", "joint_pos_5", "joint_pos_6" ] }, "observation.joint_vel": { "dtype": "float32", "shape": [ 7 ], "names": [ "joint_vel_0", "joint_vel_1", "joint_vel_2", "joint_vel_3", "joint_vel_4", "joint_vel_5", "joint_vel_6" ] }, "observation.tcp_force": { "dtype": "float32", "shape": [ 3 ], "names": [ "tcp_force_0", "tcp_force_1", "tcp_force_2" ] }, "observation.tcp_torque": { "dtype": "float32", "shape": [ 3 ], "names": [ "tcp_torque_0", "tcp_torque_1", "tcp_torque_2" ] }, "observation.images.base_0_rgb": { "dtype": "video", "shape": [ 256, 256, 3 ], "names": [ "height", "width", "channel" ], "info": { "video.height": 256, "video.width": 256, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 10, "video.channels": 3, "has_audio": false } }, "observation.images.left_wrist_0_rgb": { "dtype": "video", "shape": [ 256, 256, 3 ], "names": [ "height", "width", "channel" ], "info": { "video.height": 256, "video.width": 256, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 10, "video.channels": 3, "has_audio": false } }, "observation.images.right_wrist_0_rgb": { "dtype": "video", "shape": [ 256, 256, 3 ], "names": [ "height", "width", "channel" ], "info": { "video.height": 256, "video.width": 256, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 10, "video.channels": 3, "has_audio": false } }, "observation.images.side_1_rgb": { "dtype": "video", "shape": [ 256, 256, 3 ], "names": [ "height", "width", "channel" ], "info": { "video.height": 256, "video.width": 256, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 10, "video.channels": 3, "has_audio": false } }, "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 } } } ``` ## Citation **BibTeX:** ```bibtex [More Information Needed] ```