wsagi/FlowHeads-DiffusionPolicy-Real-PickOrange
Robotics • 0.3B • Updated • 19
Datasets:
Search is not available for this dataset
action list | observation.state list | timestamp float32 0 73.1 | frame_index int64 0 2.19k | episode_index int64 0 29 | index int64 0 25.1k | task_index int64 0 0 |
|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
SO-101 Real-Arm Pick Orange — 30 Episodes (LeRobot v3.0)
真机 SO-101 主从臂遥操采集的抓橙子放盘子数据集,30 集人类演示,LeRobot v3.0 格式。 Real-world SO-101 leader-follower teleoperation dataset: pick up an orange and place it on the plate, 30 human demonstrations in LeRobot v3.0 format.
概览 / Overview
| 项 | 值 |
|---|---|
| 机器人 / Robot | SO-101 follower(6 DoF + 夹爪,leader 臂遥操) |
| 任务 / Task | Pick up the orange and place it on the plate |
| 集数 / Episodes | 30 |
| 总帧数 / Frames | 25,091(30 fps,合计 ~14 min) |
| 单集长度 / Episode length | 442–2,195 帧(median 753 ≈ 25 s) |
| 相机 / Cameras | front + wrist,各 640×480 @30fps,AV1(yuv420p) |
| 状态与动作 / State & action | 6 维关节位置(shoulder_pan / shoulder_lift / elbow_flex / wrist_flex / wrist_roll / gripper) |
| 格式 / Format | LeRobot codebase_version: v3.0 |
采集方式 / Collection
- 主从臂遥操(leader 5V / follower 12V),人类演示自然速度完成抓取-放置全流程。 Leader-follower teleoperation; each episode is a complete human-paced pick-and-place.
- 录制脚手架(后台录制 / 哨兵停止 / 废集丢弃)见下方 GitHub 仓库
LeIsaac/scripts/so101/。 Recording scaffolding (background record, sentinel stop, drop-bad-episode) lives in the GitHub repos below.
用法 / Usage
from lerobot.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("wsagi/leisaac-real-pick-orange")
print(ds.meta.total_episodes, ds.meta.total_frames) # 30, 25091
⚠️ 视频为 AV1 编码:decord 读不了,torchvision_av/pyav 后端可读(pyav 建议 thread_count=1 防解码线程泄漏)。
Videos are AV1-encoded: use the pyav / torchvision_av backend (decord cannot decode AV1).
在此数据集上训练的结果 / Trained on this dataset
同一 30 集数据训练三种 VLA 头,真机闭环对比: Three policy heads trained on the same 30 episodes, closed-loop on the real arm:
每轮 3 只橙子,记放入盘中数 / 3 oranges per round, count placed:
| 策略 / Policy | 真机表现 / Real-arm result |
|---|---|
| FlowDP sim-warm-start(wsagi/FlowHeads-DiffusionPolicy-Real-PickOrange) | 1.7 只/轮 = 56.7%(10 轮:2,2,3,1,1,2,0,3,2,1;超自身仿真成绩 45.0%)— 真机全场 best / real-arm best, beats its own sim score |
| ACT sim-warm-start(wsagi/ACT-Real-PickOrange) | 1.5 只/轮(10 轮:2,1,1,3,2,1,0,1,2,2)/ ~2× from-scratch |
| ACT 从零 / from scratch | 0.8 只/轮(5 轮:2,0,1,1,0;放入 1–2 只概率约 50% / ~50% chance of placing 1–2) |
| FlowDP 从零 / from scratch | 能抓取,放置不稳 / grasps, unstable placement |
| GR00T-N1.7(冻结 VLM 微调 head) | 能抓取,未完成放置 / grasps, no placement |
相关项目 / Related projects
- https://github.com/vitorcen/isaaclab-experience — 伞仓:多 VLA 基线训练/评测全记录
- https://github.com/vitorcen/LeIsaac-Training — LeIsaac:SO-101 PickOrange 训练 / benchmark / 真机脚手架
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