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| 1 |
+
---
|
| 2 |
+
license: cc-by-4.0
|
| 3 |
+
task_categories:
|
| 4 |
+
- robotics
|
| 5 |
+
tags:
|
| 6 |
+
- LeRobot
|
| 7 |
+
- robotics
|
| 8 |
+
- FMB
|
| 9 |
+
- pi05
|
| 10 |
+
- manipulation
|
| 11 |
+
- insertion
|
| 12 |
+
configs:
|
| 13 |
+
- config_name: default
|
| 14 |
+
data_files: data/*/*.parquet
|
| 15 |
+
---
|
| 16 |
+
|
| 17 |
+
This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
|
| 18 |
+
|
| 19 |
+
## Dataset Description
|
| 20 |
+
|
| 21 |
+
FMB (Functional Manipulation Benchmark) **insert** primitive, converted to LeRobot v3.0 for pi0.5 (pi05) SFT.
|
| 22 |
+
|
| 23 |
+
**Single-peg subset**: shape 1 / size M / length S only (75 episodes). The full insert set is at `DAVIAN-Robotics/fmb-insert-4cam`.
|
| 24 |
+
|
| 25 |
+
## Source and license
|
| 26 |
+
|
| 27 |
+
Derived from the FMB single-object manipulation dataset (`insert_only_*.npy`), released by the RAIL lab at UC Berkeley under **CC BY 4.0**. This derived dataset carries the same license. If you use it, cite the original work:
|
| 28 |
+
|
| 29 |
+
```
|
| 30 |
+
@article{luo2024fmb,
|
| 31 |
+
title={FMB: a Functional Manipulation Benchmark for Generalizable Robotic Learning},
|
| 32 |
+
author={Luo, Jianlan and Xu, Charles and Liu, Fangchen and Tan, Liam and Lin, Zipeng and Wu, Jeffrey and Abbeel, Pieter and Levine, Sergey},
|
| 33 |
+
journal={arXiv preprint arXiv:2401.08553},
|
| 34 |
+
year={2024}
|
| 35 |
+
}
|
| 36 |
+
```
|
| 37 |
+
|
| 38 |
+
Project page: https://functional-manipulation-benchmark.github.io/
|
| 39 |
+
|
| 40 |
+
## What was kept and what was dropped
|
| 41 |
+
|
| 42 |
+
Everything in the source `.npy` **except the four depth maps**, which were dropped for size (uint16 256x256 x4 = 512 KB/frame). The original `.npy` files remain the place to go for depth.
|
| 43 |
+
|
| 44 |
+
- 4 RGB views, remapped to pi05 camera slots: `side_1` -> `base_0_rgb`, `wrist_1` -> `left_wrist_0_rgb`, `wrist_2` -> `right_wrist_0_rgb`, `side_2` -> `side_1_rgb` (the fourth is an extra slot beyond the 3 that `lerobot/pi05_base` was trained on)
|
| 45 |
+
- `observation.state` (8) = `tcp_pose` (7) + `gripper` (1), the pi05 convention
|
| 46 |
+
- `action` (7) = FMB's own commanded action: **normalized Cartesian delta [-1, 1] x 6 + gripper**. Not an absolute pose — do not apply a delta transform on top of it
|
| 47 |
+
- Original fields preserved alongside: `tcp_pose` (7), `tcp_vel` (6), `gripper` (1), `joint_pos` (7), `joint_vel` (7), `tcp_force` (3), `tcp_torque` (3), `jacobian` (42, row-major 6x7), `primitive_id` (1), `object_meta` (6 = shape, size, length, color, angle, distractor)
|
| 48 |
+
|
| 49 |
+
## Caveats
|
| 50 |
+
|
| 51 |
+
- **fps = 10 is an assumption.** FMB does not publish its control frequency; 10 Hz was inferred from a sample trajectory (16 cm TCP descent over 60 steps). It affects only LeRobot timestamps and chunk interpretation.
|
| 52 |
+
- Episode lengths vary: min 17, median 46, max 128 steps (measured over 120 samples of the full insert set).
|
| 53 |
+
- Every episode's `object_info` was cross-checked against its filename during conversion.
|
| 54 |
+
## Visualize
|
| 55 |
+
|
| 56 |
+
[Open in the LeRobot dataset visualizer](https://huggingface.co/spaces/lerobot/visualize_dataset?dataset=DAVIAN-Robotics/fmb-insert-1MS-4cam&episode=0)
|
| 57 |
+
|
| 58 |
+
|
| 59 |
+
- **Homepage:** [More Information Needed]
|
| 60 |
+
- **Paper:** [More Information Needed]
|
| 61 |
+
- **License:** cc-by-4.0
|
| 62 |
+
|
| 63 |
+
## Dataset Structure
|
| 64 |
+
|
| 65 |
+
[meta/info.json](meta/info.json):
|
| 66 |
+
```json
|
| 67 |
+
{
|
| 68 |
+
"codebase_version": "v3.0",
|
| 69 |
+
"robot_type": "franka",
|
| 70 |
+
"total_episodes": 75,
|
| 71 |
+
"total_frames": 3618,
|
| 72 |
+
"total_tasks": 1,
|
| 73 |
+
"chunks_size": 1000,
|
| 74 |
+
"data_files_size_in_mb": 100,
|
| 75 |
+
"video_files_size_in_mb": 200,
|
| 76 |
+
"fps": 10,
|
| 77 |
+
"splits": {
|
| 78 |
+
"train": "0:75"
|
| 79 |
+
},
|
| 80 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 81 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 82 |
+
"features": {
|
| 83 |
+
"observation.state": {
|
| 84 |
+
"dtype": "float32",
|
| 85 |
+
"shape": [
|
| 86 |
+
8
|
| 87 |
+
],
|
| 88 |
+
"names": [
|
| 89 |
+
"x",
|
| 90 |
+
"y",
|
| 91 |
+
"z",
|
| 92 |
+
"qw",
|
| 93 |
+
"qx",
|
| 94 |
+
"qy",
|
| 95 |
+
"qz",
|
| 96 |
+
"gripper"
|
| 97 |
+
]
|
| 98 |
+
},
|
| 99 |
+
"action": {
|
| 100 |
+
"dtype": "float32",
|
| 101 |
+
"shape": [
|
| 102 |
+
7
|
| 103 |
+
],
|
| 104 |
+
"names": [
|
| 105 |
+
"dx",
|
| 106 |
+
"dy",
|
| 107 |
+
"dz",
|
| 108 |
+
"droll",
|
| 109 |
+
"dpitch",
|
| 110 |
+
"dyaw",
|
| 111 |
+
"gripper"
|
| 112 |
+
]
|
| 113 |
+
},
|
| 114 |
+
"observation.gripper": {
|
| 115 |
+
"dtype": "float32",
|
| 116 |
+
"shape": [
|
| 117 |
+
1
|
| 118 |
+
],
|
| 119 |
+
"names": [
|
| 120 |
+
"gripper"
|
| 121 |
+
]
|
| 122 |
+
},
|
| 123 |
+
"observation.jacobian": {
|
| 124 |
+
"dtype": "float32",
|
| 125 |
+
"shape": [
|
| 126 |
+
42
|
| 127 |
+
],
|
| 128 |
+
"names": [
|
| 129 |
+
"j00",
|
| 130 |
+
"j01",
|
| 131 |
+
"j02",
|
| 132 |
+
"j03",
|
| 133 |
+
"j04",
|
| 134 |
+
"j05",
|
| 135 |
+
"j06",
|
| 136 |
+
"j10",
|
| 137 |
+
"j11",
|
| 138 |
+
"j12",
|
| 139 |
+
"j13",
|
| 140 |
+
"j14",
|
| 141 |
+
"j15",
|
| 142 |
+
"j16",
|
| 143 |
+
"j20",
|
| 144 |
+
"j21",
|
| 145 |
+
"j22",
|
| 146 |
+
"j23",
|
| 147 |
+
"j24",
|
| 148 |
+
"j25",
|
| 149 |
+
"j26",
|
| 150 |
+
"j30",
|
| 151 |
+
"j31",
|
| 152 |
+
"j32",
|
| 153 |
+
"j33",
|
| 154 |
+
"j34",
|
| 155 |
+
"j35",
|
| 156 |
+
"j36",
|
| 157 |
+
"j40",
|
| 158 |
+
"j41",
|
| 159 |
+
"j42",
|
| 160 |
+
"j43",
|
| 161 |
+
"j44",
|
| 162 |
+
"j45",
|
| 163 |
+
"j46",
|
| 164 |
+
"j50",
|
| 165 |
+
"j51",
|
| 166 |
+
"j52",
|
| 167 |
+
"j53",
|
| 168 |
+
"j54",
|
| 169 |
+
"j55",
|
| 170 |
+
"j56"
|
| 171 |
+
]
|
| 172 |
+
},
|
| 173 |
+
"observation.primitive_id": {
|
| 174 |
+
"dtype": "float32",
|
| 175 |
+
"shape": [
|
| 176 |
+
1
|
| 177 |
+
],
|
| 178 |
+
"names": [
|
| 179 |
+
"primitive_id"
|
| 180 |
+
]
|
| 181 |
+
},
|
| 182 |
+
"observation.object_meta": {
|
| 183 |
+
"dtype": "float32",
|
| 184 |
+
"shape": [
|
| 185 |
+
6
|
| 186 |
+
],
|
| 187 |
+
"names": [
|
| 188 |
+
"shape",
|
| 189 |
+
"size",
|
| 190 |
+
"length",
|
| 191 |
+
"color",
|
| 192 |
+
"angle",
|
| 193 |
+
"distractor"
|
| 194 |
+
]
|
| 195 |
+
},
|
| 196 |
+
"observation.tcp_pose": {
|
| 197 |
+
"dtype": "float32",
|
| 198 |
+
"shape": [
|
| 199 |
+
7
|
| 200 |
+
],
|
| 201 |
+
"names": [
|
| 202 |
+
"tcp_pose_0",
|
| 203 |
+
"tcp_pose_1",
|
| 204 |
+
"tcp_pose_2",
|
| 205 |
+
"tcp_pose_3",
|
| 206 |
+
"tcp_pose_4",
|
| 207 |
+
"tcp_pose_5",
|
| 208 |
+
"tcp_pose_6"
|
| 209 |
+
]
|
| 210 |
+
},
|
| 211 |
+
"observation.tcp_vel": {
|
| 212 |
+
"dtype": "float32",
|
| 213 |
+
"shape": [
|
| 214 |
+
6
|
| 215 |
+
],
|
| 216 |
+
"names": [
|
| 217 |
+
"tcp_vel_0",
|
| 218 |
+
"tcp_vel_1",
|
| 219 |
+
"tcp_vel_2",
|
| 220 |
+
"tcp_vel_3",
|
| 221 |
+
"tcp_vel_4",
|
| 222 |
+
"tcp_vel_5"
|
| 223 |
+
]
|
| 224 |
+
},
|
| 225 |
+
"observation.joint_pos": {
|
| 226 |
+
"dtype": "float32",
|
| 227 |
+
"shape": [
|
| 228 |
+
7
|
| 229 |
+
],
|
| 230 |
+
"names": [
|
| 231 |
+
"joint_pos_0",
|
| 232 |
+
"joint_pos_1",
|
| 233 |
+
"joint_pos_2",
|
| 234 |
+
"joint_pos_3",
|
| 235 |
+
"joint_pos_4",
|
| 236 |
+
"joint_pos_5",
|
| 237 |
+
"joint_pos_6"
|
| 238 |
+
]
|
| 239 |
+
},
|
| 240 |
+
"observation.joint_vel": {
|
| 241 |
+
"dtype": "float32",
|
| 242 |
+
"shape": [
|
| 243 |
+
7
|
| 244 |
+
],
|
| 245 |
+
"names": [
|
| 246 |
+
"joint_vel_0",
|
| 247 |
+
"joint_vel_1",
|
| 248 |
+
"joint_vel_2",
|
| 249 |
+
"joint_vel_3",
|
| 250 |
+
"joint_vel_4",
|
| 251 |
+
"joint_vel_5",
|
| 252 |
+
"joint_vel_6"
|
| 253 |
+
]
|
| 254 |
+
},
|
| 255 |
+
"observation.tcp_force": {
|
| 256 |
+
"dtype": "float32",
|
| 257 |
+
"shape": [
|
| 258 |
+
3
|
| 259 |
+
],
|
| 260 |
+
"names": [
|
| 261 |
+
"tcp_force_0",
|
| 262 |
+
"tcp_force_1",
|
| 263 |
+
"tcp_force_2"
|
| 264 |
+
]
|
| 265 |
+
},
|
| 266 |
+
"observation.tcp_torque": {
|
| 267 |
+
"dtype": "float32",
|
| 268 |
+
"shape": [
|
| 269 |
+
3
|
| 270 |
+
],
|
| 271 |
+
"names": [
|
| 272 |
+
"tcp_torque_0",
|
| 273 |
+
"tcp_torque_1",
|
| 274 |
+
"tcp_torque_2"
|
| 275 |
+
]
|
| 276 |
+
},
|
| 277 |
+
"observation.images.base_0_rgb": {
|
| 278 |
+
"dtype": "video",
|
| 279 |
+
"shape": [
|
| 280 |
+
256,
|
| 281 |
+
256,
|
| 282 |
+
3
|
| 283 |
+
],
|
| 284 |
+
"names": [
|
| 285 |
+
"height",
|
| 286 |
+
"width",
|
| 287 |
+
"channel"
|
| 288 |
+
],
|
| 289 |
+
"info": {
|
| 290 |
+
"video.height": 256,
|
| 291 |
+
"video.width": 256,
|
| 292 |
+
"video.codec": "av1",
|
| 293 |
+
"video.pix_fmt": "yuv420p",
|
| 294 |
+
"video.is_depth_map": false,
|
| 295 |
+
"video.fps": 10,
|
| 296 |
+
"video.channels": 3,
|
| 297 |
+
"has_audio": false
|
| 298 |
+
}
|
| 299 |
+
},
|
| 300 |
+
"observation.images.left_wrist_0_rgb": {
|
| 301 |
+
"dtype": "video",
|
| 302 |
+
"shape": [
|
| 303 |
+
256,
|
| 304 |
+
256,
|
| 305 |
+
3
|
| 306 |
+
],
|
| 307 |
+
"names": [
|
| 308 |
+
"height",
|
| 309 |
+
"width",
|
| 310 |
+
"channel"
|
| 311 |
+
],
|
| 312 |
+
"info": {
|
| 313 |
+
"video.height": 256,
|
| 314 |
+
"video.width": 256,
|
| 315 |
+
"video.codec": "av1",
|
| 316 |
+
"video.pix_fmt": "yuv420p",
|
| 317 |
+
"video.is_depth_map": false,
|
| 318 |
+
"video.fps": 10,
|
| 319 |
+
"video.channels": 3,
|
| 320 |
+
"has_audio": false
|
| 321 |
+
}
|
| 322 |
+
},
|
| 323 |
+
"observation.images.right_wrist_0_rgb": {
|
| 324 |
+
"dtype": "video",
|
| 325 |
+
"shape": [
|
| 326 |
+
256,
|
| 327 |
+
256,
|
| 328 |
+
3
|
| 329 |
+
],
|
| 330 |
+
"names": [
|
| 331 |
+
"height",
|
| 332 |
+
"width",
|
| 333 |
+
"channel"
|
| 334 |
+
],
|
| 335 |
+
"info": {
|
| 336 |
+
"video.height": 256,
|
| 337 |
+
"video.width": 256,
|
| 338 |
+
"video.codec": "av1",
|
| 339 |
+
"video.pix_fmt": "yuv420p",
|
| 340 |
+
"video.is_depth_map": false,
|
| 341 |
+
"video.fps": 10,
|
| 342 |
+
"video.channels": 3,
|
| 343 |
+
"has_audio": false
|
| 344 |
+
}
|
| 345 |
+
},
|
| 346 |
+
"observation.images.side_1_rgb": {
|
| 347 |
+
"dtype": "video",
|
| 348 |
+
"shape": [
|
| 349 |
+
256,
|
| 350 |
+
256,
|
| 351 |
+
3
|
| 352 |
+
],
|
| 353 |
+
"names": [
|
| 354 |
+
"height",
|
| 355 |
+
"width",
|
| 356 |
+
"channel"
|
| 357 |
+
],
|
| 358 |
+
"info": {
|
| 359 |
+
"video.height": 256,
|
| 360 |
+
"video.width": 256,
|
| 361 |
+
"video.codec": "av1",
|
| 362 |
+
"video.pix_fmt": "yuv420p",
|
| 363 |
+
"video.is_depth_map": false,
|
| 364 |
+
"video.fps": 10,
|
| 365 |
+
"video.channels": 3,
|
| 366 |
+
"has_audio": false
|
| 367 |
+
}
|
| 368 |
+
},
|
| 369 |
+
"timestamp": {
|
| 370 |
+
"dtype": "float32",
|
| 371 |
+
"shape": [
|
| 372 |
+
1
|
| 373 |
+
],
|
| 374 |
+
"names": null
|
| 375 |
+
},
|
| 376 |
+
"frame_index": {
|
| 377 |
+
"dtype": "int64",
|
| 378 |
+
"shape": [
|
| 379 |
+
1
|
| 380 |
+
],
|
| 381 |
+
"names": null
|
| 382 |
+
},
|
| 383 |
+
"episode_index": {
|
| 384 |
+
"dtype": "int64",
|
| 385 |
+
"shape": [
|
| 386 |
+
1
|
| 387 |
+
],
|
| 388 |
+
"names": null
|
| 389 |
+
},
|
| 390 |
+
"index": {
|
| 391 |
+
"dtype": "int64",
|
| 392 |
+
"shape": [
|
| 393 |
+
1
|
| 394 |
+
],
|
| 395 |
+
"names": null
|
| 396 |
+
},
|
| 397 |
+
"task_index": {
|
| 398 |
+
"dtype": "int64",
|
| 399 |
+
"shape": [
|
| 400 |
+
1
|
| 401 |
+
],
|
| 402 |
+
"names": null
|
| 403 |
+
}
|
| 404 |
+
}
|
| 405 |
+
}
|
| 406 |
+
```
|
| 407 |
+
|
| 408 |
+
|
| 409 |
+
## Citation
|
| 410 |
+
|
| 411 |
+
**BibTeX:**
|
| 412 |
+
|
| 413 |
+
```bibtex
|
| 414 |
+
[More Information Needed]
|
| 415 |
+
```
|