chocolat-nya/yaskawa-untangle-20260309-144410

Yaskawa Cable Untangling Dataset

This dataset contains 50 episodes of a Yaskawa 7-axis robot performing cable untangling tasks. The data is collected using direct teaching and formatted for LeRobot v3.0.

Dataset Details

• Total Episodes: 50
• Total Frames: 248,420
• Robot: Yaskawa 7-axis manipulator
• Task: Cable untangling task
• Collection Method: Direct teaching (teleoperation)
• FPS: 30
• Duration: ~30 seconds per episode
• LeRobot Version: v3.0

Observations

State (7-DOF joint angles)

• axis_0 to axis_6: Joint angles in degrees

Images (3 cameras)

• observation.images.realsense: Intel RealSense D435I RGB camera (on-hand)
• observation.images.fixed_cam1: Fixed USB Camera 1 (L-837)
• observation.images.fixed_cam2: Fixed USB Camera 2 (L-837)

All images are 640x480 pixels, H.264 encoded.

Actions

The actions represent the target joint angles for the next timestep:

• action_0 to action_6: Target joint angles in degrees

Dataset Structure

chocolat-nya/yaskawa-untangle-20260309-144410/
├── data/
│   └── chunk-000/
│       └── file-000.parquet          # All episode data (248,420 frames)
├── meta/
│   ├── info.json                     # Dataset metadata
│   ├── stats.json                    # Statistical information
│   ├── tasks.parquet                 # Task definitions
│   └── episodes/
│       └── chunk-000/
│           └── file-000.parquet      # Episode metadata
└── videos/
    ├── observation.images.realsense/
    │   └── chunk-000/
    │       ├── file-000.mp4          # Episode 1
    │       ├── file-001.mp4          # Episode 2
    │       └── ...                   # Episodes 3-50
    ├── observation.images.fixed_cam1/
    │   └── chunk-000/
    │       └── ...                   # 50 episodes
    └── observation.images.fixed_cam2/
        └── chunk-000/
            └── ...                   # 50 episodes

Usage

Loading the Dataset

from lerobot.common.datasets.lerobot_dataset import LeRobotDataset

# Load the dataset from Hugging Face Hub
dataset = LeRobotDataset("chocolat-nya/yaskawa-untangle-20260309-144410")

print(f"Total episodes: {dataset.num_episodes}")  # 50
print(f"Total frames: {len(dataset)}")            # 248,420

# Access a specific episode
episode_0 = dataset.episode(0)

# Get a single frame
frame = dataset[0]
print(frame.keys())  # ['action', 'observation.state', 'observation.images.realsense', ...]

Training with LeRobot

Train an ACT (Action Chunking Transformer) policy:

lerobot-train \
  --dataset.repo_id=chocolat-nya/yaskawa-untangle-20260309-144410 \
  --policy.type=act \
  --output_dir=outputs/train/yaskawa-untangle \
  --job_name=yaskawa-untangle \
  --policy.device=cuda \
  --wandb.enable=true

Version Tag

This dataset is tagged with v3.0 (LeRobot codebase version). The tag was created using:

from huggingface_hub import HfApi

hub_api = HfApi()
hub_api.create_tag(
    "chocolat-nya/yaskawa-untangle-20260309-144410",
    tag="v3.0",
    repo_type="dataset"
)

Data Collection Setup

Hardware

• Robot: Yaskawa 7-axis manipulator
• Cameras:
  • Intel RealSense D435I (mounted on robot hand)
  • 2x USB Camera L-837 (fixed viewpoints)
• Control: Direct teaching mode (30 seconds per episode)

Camera Configuration

• RealSense RGB: /dev/video6
• Fixed Camera 1: /dev/video8
• Fixed Camera 2: /dev/video12

Citation

If you use this dataset in your research, please cite:

@dataset{yaskawa_untangle_2026,
  title={Yaskawa Cable Untangling Dataset},
  author={chocolat-nya},
  year={2026},
  publisher={Hugging Face},
  howpublished={\url{https://huggingface.co/datasets/chocolat-nya/yaskawa-untangle-20260309-144410}}
}

License

MIT License

Dataset Card Contact

For questions or issues, please open an issue on the Hugging Face dataset page.