Hugging Face's logo

Datasets:
andreaskoepf
/
dk1_duplo_stack_simple

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
100K - 1M
Tags:
LeRobot
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
xet
 Community
1
dk1_duplo_stack_simple / README.md
andreaskoepf's picture
andreaskoepf
Add files using upload-large-folder tool
43dd4c1 verified
preview code
|
raw
history blame contribute delete
8.03 kB
metadata 
license: apache-2.0
task_categories:
  - robotics
tags:
  - LeRobot
configs:
  - config_name: default
    data_files: data/*/*.parquet

This dataset was created using LeRobot.

Dataset Description

  • Robot: TRLC DK1 bimanual (bi_dk1_follower) — 2× 6-DOF arms with grippers
  • Task: pick up the orange 2x2 brick with the right arm and stack it on top of the green 2x2 brick in the center
  • Episodes: 102
  • Total frames: 131,625 (36.6 min @ 60 fps)
  • Avg episode length: 21.5s
  • License: apache-2.0

Cameras

Camera Resolution Codec FPS
observation.images.head 640x360 hevc 60
observation.images.left_wrist 640x360 hevc 60
observation.images.right_wrist 640x360 hevc 60

Observation Space

  • observation.state: float32[40] — left_joint_1.pos, left_joint_2.pos, left_joint_3.pos, left_joint_4.pos, left_joint_5.pos, left_joint_6.pos... (joint positions, velocities, torques for both arms + grippers)
  • observation.images.*: 3 camera streams

Action Space

  • action: float32[14] — left_joint_1.pos, left_joint_2.pos, left_joint_3.pos, left_joint_4.pos, left_joint_5.pos, left_joint_6.pos... (joint position targets for both arms + grippers)

Loading the Dataset 

from lerobot.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset("andreaskoepf/dk1_duplo_stack_simple")

# Access a frame
frame = dataset[0]
print(frame["observation.state"].shape)  # torch.Size([40])
print(frame["action"].shape)             # torch.Size([14])
print(frame["observation.images.head"].shape)  # torch.Size([3, 720, 1280])

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "bi_dk1_follower",
    "total_episodes": 102,
    "total_frames": 131625,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 12,
    "video_files_size_in_mb": 4008,
    "fps": 60,
    "splits": {
        "train": "0:102"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "left_joint_1.pos",
                "left_joint_2.pos",
                "left_joint_3.pos",
                "left_joint_4.pos",
                "left_joint_5.pos",
                "left_joint_6.pos",
                "left_gripper.pos",
                "right_joint_1.pos",
                "right_joint_2.pos",
                "right_joint_3.pos",
                "right_joint_4.pos",
                "right_joint_5.pos",
                "right_joint_6.pos",
                "right_gripper.pos"
            ],
            "shape": [
                14
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "left_joint_1.pos",
                "left_joint_2.pos",
                "left_joint_3.pos",
                "left_joint_4.pos",
                "left_joint_5.pos",
                "left_joint_6.pos",
                "left_gripper.pos",
                "right_joint_1.pos",
                "right_joint_2.pos",
                "right_joint_3.pos",
                "right_joint_4.pos",
                "right_joint_5.pos",
                "right_joint_6.pos",
                "right_gripper.pos",
                "left_joint_1.vel",
                "left_joint_2.vel",
                "left_joint_3.vel",
                "left_joint_4.vel",
                "left_joint_5.vel",
                "left_joint_6.vel",
                "right_joint_1.vel",
                "right_joint_2.vel",
                "right_joint_3.vel",
                "right_joint_4.vel",
                "right_joint_5.vel",
                "right_joint_6.vel",
                "left_joint_1.torque",
                "left_joint_2.torque",
                "left_joint_3.torque",
                "left_joint_4.torque",
                "left_joint_5.torque",
                "left_joint_6.torque",
                "left_gripper.torque",
                "right_joint_1.torque",
                "right_joint_2.torque",
                "right_joint_3.torque",
                "right_joint_4.torque",
                "right_joint_5.torque",
                "right_joint_6.torque",
                "right_gripper.torque"
            ],
            "shape": [
                40
            ]
        },
        "observation.images.head": {
            "dtype": "video",
            "shape": [
                360,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 360,
                "video.width": 640,
                "video.codec": "hevc",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 60,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.left_wrist": {
            "dtype": "video",
            "shape": [
                360,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 360,
                "video.width": 640,
                "video.codec": "hevc",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 60,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.right_wrist": {
            "dtype": "video",
            "shape": [
                360,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 360,
                "video.width": 640,
                "video.codec": "hevc",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 60,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

@misc{andreaskoepf_dk1_duplo_stack_simple,
  title = {pick up the orange 2x2 brick with the right arm and stack it on top of the green 2x2 brick in the center},
  author = {The Robot Learning Company},
  year = {2026},
  publisher = {HuggingFace},
  url = {https://huggingface.co/datasets/andreaskoepf/dk1_duplo_stack_simple}
}