Datasets:
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observation.state list | observation.joint_vel list | observation.eef_pos list | observation.eef_quat list | action list | observation.held_part_pose list | observation.fixed_part_pose list | next.reward float32 0 2.38 | timestamp float32 0 29.9 | frame_index int64 0 449 | episode_index int64 0 399 | index int64 0 79.2k | task_index int64 0 3 |
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End of preview. Expand in Data Studio
This dataset was created using LeRobot.
assembly_bench_rewards
Contact-rich assembly demonstrations (NIST peg/gear/nut) generated by a privileged scripted IK expert in NVIDIA Isaac Lab (Arena). Actions are the native DROID joint-position command (7 absolute arm joint targets + binary gripper), so pi0.5/openpi/GR00T consume them directly.
- Robot: Franka Panda + Robotiq 2F-85 (DROID platform); expert drives a DifferentialIKController (dls) into stiff PD joint-position control.
- Control / record rate: 15 Hz.
Tasks (per-episode instruction)
| task | demos |
|---|---|
pick up the 16 mm round peg and insert it into the hole |
100 |
pick up the 12 mm round peg and insert it into the hole |
100 |
pick up the 4 mm round peg and insert it into the hole |
100 |
Observation / action / state layout
| key | dtype | shape | meaning / units |
|---|---|---|---|
observation.images.front |
video (H.264, CRF 20) | (180,320,3) | third-person RGB, uint8, DROID-RLDS resolution |
observation.images.wrist |
video (H.264, CRF 20) | (180,320,3) | eye-in-hand RGB, uint8, DROID-RLDS resolution |
observation.state |
float32 | (8,) | joint_position (7, rad) + gripper_position (1, 0=open 1=closed) |
observation.joint_vel |
float32 | (7,) | arm joint velocities (rad/s, no gripper) |
observation.eef_pos |
float32 | (3,) | end-effector position, robot base frame (m) |
observation.eef_quat |
float32 | (4,) | end-effector orientation, world frame, wxyz |
action |
float32 | (8,) | 7 absolute arm joint-position targets (rad) + gripper (1: 1=close, 0=open) |
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