AAyano/uf850-vr-teleop-press-buttons-raw

UF850 Quest VR Press Buttons — Raw Data

Raw, untrimmed UF850 teleoperation trajectories collected with a Quest VR controller and two Intel RealSense cameras. No retained trajectory was trimmed, resampled, or action-normalized. Camera frames were captured as YUYV and stored as JPEG at collection time.

Task and prompt

Every episode uses the same English task instruction:

First press the blue button, then press the red one, and finally press the orange one

The canonical prompt is stored in episode_meta.json as task. It is intentionally not duplicated in every step-level data.json.

Task layout

In this external-camera view, the buttons are arranged orange, red, and blue from left to right. The commanded sequence is blue, then red, then orange (right to left in this view).

Dataset summary

Item	Value
Episodes	50 (episode_000–episode_049)
Transition steps	20,659
JPEG images	41,318 (20,659 per camera)
Nominal transition rate	10 Hz
Nominal transition time	34.43 minutes
Image size	1920×1080

Cameras

File	Role	RealSense serial	Capture mode
cam_0.jpg	wrist	845112070404	1920×1080 YUYV @ 30 FPS
cam_1.jpg	external	215222078407	1920×1080 YUYV @ 30 FPS

File layout

To keep the Hub repository reliable and easy to download, each episode is distributed as one uncompressed tar archive. The archive is only a container: the JPEG and JSON file bytes inside are unchanged from the validated raw capture.

README.md
layout_external.jpg
SHA256SUMS
episodes/
  episode_000.tar
  episode_001.tar
  ...

Extract an episode with, for example:

tar -xf episodes/episode_000.tar

Each archive expands to the original capture layout:

episode_NNN/
  episode_meta.json
  step_00000/
    cam_0.jpg
    cam_1.jpg
    data.json
  step_00001/
    ...

Each step contains the synchronized observation and camera pair at time t, plus the raw robot-state difference to the following sample:

action[t] = state[t + 1] - state[t]

Actions are not divided by dt.

data.json

• observations.ee_pos: [x, y, z, roll, pitch, yaw]
• observations.joint_pos: six joint angles
• observations.gripper_pos: raw xArm gripper position
• action.delta_ee_pos: next-minus-current TCP delta
• action.delta_joint_pos: next-minus-current joint delta
• action.delta_gripper: next-minus-current gripper delta
• meta: schema version, step number, sampling time, real dt, camera timestamps/frame numbers/skew, frame age, state-read duration, and wrapped Euler-angle delta

Units are millimetres for TCP XYZ, degrees for TCP Euler angles and joint angles, and the raw xArm scale (nominally 0–850) for the gripper. Delta fields use the corresponding source units.

episode_meta.json

Episode metadata records the task prompt, start/end times, termination reason, camera identities, collection configuration snapshot, step count, and error statistics.

Validation and raw-data notes

• All 50 published episodes were checked for contiguous numbering, required files, full 1920×1080 JPEG decoding, finite JSON values, next-current action alignment, camera synchronization, frame ordering, and episode metadata consistency.
• One original capture was excluded before publication because it began at the preceding orange-button endpoint and included a return/gripper-reset segment before the intended task. The remaining original episodes were renumbered contiguously; their images, step JSON, observations, and actions were not modified.
• Published episode_005 and episode_013 have episode metadata reconstructed from preserved step records from an earlier cleanup. Published episode_034 and episode_040 were reconstructed during this publication cleanup using preserved step timestamps, finalized-file times, the shared task, and the common collection configuration.
• Static prefixes and tails are retained because this is a raw dataset. In particular, episode_013 contains an approximately 17.8-second static segment after the useful motion.
• Raw Euler deltas retain the legacy direct-subtraction behavior, including wrap-boundary values near ±360°. A wrapped rotation delta is also available in each step's metadata.