--- license: apache-2.0 task_categories: - robotics tags: - LeRobot configs: - config_name: default data_files: data/*/*.parquet --- This dataset was created using [LeRobot](https://github.com/huggingface/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 ```python 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](meta/info.json): ```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:** ```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} } ```