---
pretty_name: UF850 Quest VR Press Buttons RLDS No-Op Filtered
language:
  - en
tags:
  - robotics
  - teleoperation
  - xarm
  - quest-vr
  - realsense
  - rlds
  - tensorflow-datasets
  - openvla
  - noop-filtered
size_categories:
  - 10K<n<100K
---

# UF850 Quest VR Press Buttons — RLDS No-Op Filtered

OpenVLA-OFT-compatible RLDS/TFDS trajectories derived from the validated
[UF850 Press Buttons raw dataset](https://huggingface.co/datasets/AAyano/uf850-vr-teleop-press-buttons-raw).
Idle steps were removed before image processing; retained actions keep their
original adjacent-sample meaning and are not recomputed after filtering.

## Task instruction

Every step uses the same English instruction:

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

## Summary

| Item | Value |
| --- | ---: |
| Episodes | 50 |
| Raw transition steps | 20,659 |
| Retained RLDS steps | 10,589 |
| Removed no-op steps | 10,070 |
| Retained fraction | 51.26% |
| Split | `train` only |
| TFDS version | `1.0.1` |

The source revision is
`495ebc9ff6bf301cccdcfe6765539bce4b9533e7`. The raw dataset card explains
the earlier rejection of one invalid capture; this released task therefore
contains `episode_000` through `episode_049`.

## No-op filter

A step is removed only when all three conditions hold:

- translation norm is below `0.02 cm/step`;
- wrapped rotation norm is below `0.002 rad/step`;
- the binary gripper state is unchanged from the preceding raw step.

Gripper transitions are always retained. No episode required the fewer-than-two
steps fallback. Filtering is performed from JSON first, so images belonging to
removed steps are never cropped or encoded.

## OFT transforms and schema

- `steps/observation/image`: external `cam_1.jpg`, cropped
  `x=540:1620, y=0:1080`, then LANCZOS-resized to `224×224` RGB.
- `steps/observation/hand_image`: wrist `cam_0.jpg`, cropped
  `x=760:1840, y=0:1080`, then LANCZOS-resized to `224×224` RGB.
- `steps/observation/end_effector_pose`: six joint angles in radians. The key
  name is retained solely for compatibility with the existing XArm OFT config;
  these values are not Cartesian end-effector poses.
- `steps/action`: seven float32 values: TCP XYZ delta in centimetres, wrapped
  Euler delta in radians, and binary gripper state.
- gripper action: `+1` closed and `-1` open. Each episode starts open (`-1`);
  `action.delta_gripper < -10` switches to closed, `> 10` switches to open,
  and values in between retain the previous state. This matches the legacy
  setting1/setting2 conversion.
- `discount=1`; only the final retained step has `reward=1`, `is_last=true`,
  and `is_terminal=true`.
- `language_instruction` contains the prompt above on every retained step.

The button task intentionally uses a closed gripper for nearly all retained
motion. This is a property of the demonstrations, not a conversion error.

## Layout and loading

```text
README.md
conversion_manifest.json
SHA256SUMS
utokyo_xarm_pick_and_place_converted_externally_to_rlds/
  1.0.1/
    dataset_info.json
    features.json
    *-train.tfrecord-*
```

Download and open the generated builder directly:

```bash
hf download AAyano/uf850-vr-teleop-press-buttons-rlds-noop-filtered \
  --repo-type dataset --local-dir ./press_buttons_rlds
```

```python
import tensorflow_datasets as tfds

builder = tfds.builder_from_directory(
    "./press_buttons_rlds/"
    "utokyo_xarm_pick_and_place_converted_externally_to_rlds/1.0.1"
)
dataset = builder.as_dataset(split="train", shuffle_files=False)
```

For the local OpenVLA-OFT loader, use the downloaded repository root as
`data_root_dir` and
`utokyo_xarm_pick_and_place_converted_externally_to_rlds` as `dataset_name`.
This dataset was generated and validated with TensorFlow 2.15.0 and TFDS 4.9.3.

The corn and button releases use the same internal TFDS name, so download them
into separate parent directories. Do not merge their version directories.

## Reproducibility and validation

`conversion_manifest.json` records every episode's source JSON digest, raw and
retained counts, action statistics, preprocessing parameters, runtime versions,
and converter digest. `SHA256SUMS` covers the published payload. The completed
RLDS was reopened in a fresh read-only builder and every retained state, action,
prompt, flag, and decoded image was checked.