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Datasets:
ICRA-2026-RAMEN
/
airoa-public-filter-noeval

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
100K - 1M
Tags:
lerobot
lerobot-v3
hsr
manipulation
mobile-manipulation
imitation-learning
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
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  1. README.md +96 -0
  2. data/chunk-000/file-000.parquet +3 -0
  3. data/chunk-000/file-001.parquet +3 -0
  4. meta/episodes/chunk-000/file-000.parquet +3 -0
  5. meta/info.json +136 -0
  6. meta/stats.json +166 -0
  7. meta/tasks.parquet +3 -0
  8. videos/observation.image.hand/chunk-000/file-000.mp4 +3 -0
  9. videos/observation.image.hand/chunk-000/file-001.mp4 +3 -0
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README.md ADDED
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+ ---
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+ license: apache-2.0
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+ task_categories:
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+ - robotics
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+ tags:
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+ - lerobot
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+ - lerobot-v3
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+ - hsr
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+ - manipulation
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+ - mobile-manipulation
11
+ - imitation-learning
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+ configs:
13
+ - config_name: default
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+ data_files:
15
+ - split: train
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+ path: data/**/*.parquet
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+ ---
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+
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+ # airoa-hsr-26k-filtered-v3.1
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+
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+ A quality-filtered subset of the **AIROA HSR** imitation-learning dataset,
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+ converted to [LeRobot v3](https://github.com/huggingface/lerobot) format.
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+
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+ ## Dataset summary
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+
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+ | Field | Value |
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+ |---|---|
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+ | Robot | Toyota Human Support Robot (HSR) |
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+ | Total episodes | 3,609 |
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+ | Total frames | 949,465 |
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+ | FPS | 10 |
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+ | Action dimensions | 11 |
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+ | Cameras | hand, head |
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+
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+ ## Action space
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+
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+ The `action` feature is an 11-dimensional composite vector built from
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+ position-difference and relative-position signals:
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+
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+ | Index | Name | Source |
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+ |---|---|---|
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+ | 0 | `arm_lift_joint` | `action.state_diff[0]` |
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+ | 1 | `arm_flex_joint` | `action.state_diff[1]` |
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+ | 2 | `arm_roll_joint` | `action.state_diff[2]` |
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+ | 3 | `wrist_flex_joint` | `action.state_diff[3]` |
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+ | 4 | `wrist_roll_joint` | `action.state_diff[4]` |
47
+ | 5 | `hand_motor_joint` | `action.relative[5]` |
48
+ | 6 | `head_pan_joint` | `action.state_diff[6]` |
49
+ | 7 | `head_tilt_joint` | `action.state_diff[7]` |
50
+ | 8 | `base_x` | `action.relative[8]` |
51
+ | 9 | `base_y` | `action.relative[9]` |
52
+ | 10 | `base_t` | `action.relative[10]` |
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+
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+ ## Observations
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+
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+ - `observation.image.hand` — wrist/hand camera (video, 10 fps)
57
+ - `observation.image.head` — head/overview camera (video, 10 fps)
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+
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+ ## Quality filtering
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+
61
+ Episodes were retained only if they passed **all** of the following checks:
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+
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+ **Servo motion filter** (ensures the robot actually moved):
64
+ - `std` of servo positions for joints 1, 3, 5 must each exceed `0.04`
65
+
66
+ **Video QC filter** (applied independently to hand and head cameras):
67
+ | Metric | Threshold |
68
+ |---|---|
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+ | Blurry frame fraction | < 5 % |
70
+ | Dark frame fraction | < 3 % |
71
+ | Low-contrast frame fraction | < 1 % |
72
+ | Bright frame fraction | < 1 % |
73
+ | Frozen frame fraction | < 10 % |
74
+
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+ ## Format
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+
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+ This dataset follows the [LeRobot v3 dataset format](https://github.com/huggingface/lerobot).
78
+ Episode data is stored as chunked Parquet files under `data/`,
79
+ videos under `videos/`, and metadata under `meta/`.
80
+
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+
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+ ## Filtering note (this dataset)
83
+
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+ This dataset is `ICRA-2026-RAMEN/airoa-public-filter` with 18 episodes removed because they overlap
85
+ with the public-task evaluation datasets (`airoa-public-task-{pick/place}-{box/mug/coffee}-eval`).
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+
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+ 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]
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+
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+ After filtering:
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+ - total_episodes: 3609 → 3591
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+ - total_frames: 949465 → 944488
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+
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+ Episode indices have been renumbered sequentially (0..3590).
94
+ Video files are copied unchanged; some frames in the original mp4 files are now orphan
95
+ (unreferenced by any episode) but this is benign for LeRobot v3 readers, which slice
96
+ videos via `from_timestamp` / `to_timestamp`.
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