| --- |
| 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](https://github.com/huggingface/lerobot) 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](https://github.com/huggingface/lerobot). |
| 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. |
| |
