README.md

metadata

license: apache-2.0
task_categories:
  - robotics
tags:
  - lerobot
  - lerobot-v3
  - hsr
  - manipulation
  - mobile-manipulation
  - imitation-learning
configs:
  - config_name: default
    data_files:
      - split: train
        path: data/**/*.parquet

airoa-hsr-26k-filtered-v3.1

A quality-filtered subset of the AIROA HSR imitation-learning dataset, converted to LeRobot v3 format.

Dataset summary

Field	Value
Robot	Toyota Human Support Robot (HSR)
Total episodes	3,609
Total frames	949,465
FPS	10
Action dimensions	11
Cameras	hand, head

Action space

The action feature is an 11-dimensional composite vector built from position-difference and relative-position signals:

Index	Name	Source
0	arm_lift_joint	action.state_diff[0]
1	arm_flex_joint	action.state_diff[1]
2	arm_roll_joint	action.state_diff[2]
3	wrist_flex_joint	action.state_diff[3]
4	wrist_roll_joint	action.state_diff[4]
5	hand_motor_joint	action.relative[5]
6	head_pan_joint	action.state_diff[6]
7	head_tilt_joint	action.state_diff[7]
8	base_x	action.relative[8]
9	base_y	action.relative[9]
10	base_t	action.relative[10]

Observations

• observation.image.hand — wrist/hand camera (video, 10 fps)
• observation.image.head — head/overview camera (video, 10 fps)

Quality filtering

Episodes were retained only if they passed all of the following checks:

Servo motion filter (ensures the robot actually moved):

• std of servo positions for joints 1, 3, 5 must each exceed 0.04

Video QC filter (applied independently to hand and head cameras):

Metric	Threshold
Blurry frame fraction	< 5 %
Dark frame fraction	< 3 %
Low-contrast frame fraction	< 1 %
Bright frame fraction	< 1 %
Frozen frame fraction	< 10 %

Format

This dataset follows the LeRobot v3 dataset format. Episode data is stored as chunked Parquet files under data/, videos under videos/, and metadata under meta/.

Filtering note (this dataset)

This dataset is ICRA-2026-RAMEN/airoa-public-filter with 18 episodes removed because they overlap with the public-task evaluation datasets (airoa-public-task-{pick/place}-{box/mug/coffee}-eval).

Removed episode_indices (in original ICRA-2026-RAMEN/airoa-public-filter numbering): [181, 591, 646, 702, 771, 895, 994, 1026, 1316, 1418, 1644, 1880, 2050, 2164, 2925, 3078, 3545, 3577]

After filtering:

• total_episodes: 3609 → 3591
• total_frames: 949465 → 944488

Episode indices have been renumbered sequentially (0..3590). Video files are copied unchanged; some frames in the original mp4 files are now orphan (unreferenced by any episode) but this is benign for LeRobot v3 readers, which slice videos via from_timestamp / to_timestamp.

32D layout note (this revision)

This revision overwrites the previous 11D layout with the 32D HSR sparse layout required by π0.5 32D-action checkpoints (Run67/Run70 family). All state/action columns are now float32[32] arranged as:

• state[0:5] = arm joints
• state[6] = hand_motor_joint (absolute gripper)
• state[11:13] = head (pan / tilt)
• state[5], [7:11], [13:32] = 0 (unused)
• action[0:5] = arm diffs
• action[6] = hand_motor_joint relative (gripper command)
• action[11:13] = head diffs
• action[13:16] = base x/y/theta relative
• action[5], [7:11], [16:32] = 0 (unused)

Episode-level filtering (18 eval-overlap episodes removed) is unchanged.