| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - lerobot |
| - avatar-robotics |
| - bin-picking |
| - suction-gripper |
| configs: |
| - config_name: default |
| data_files: data/*/*.parquet |
| --- |
| |
| This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
|
|
| ## Dataset Description |
|
|
| **Robot:** Agibot G1 humanoid robot |
| **Task:** Bin picking with suction gripper — pick up items from a bin and place in a moving box or bag |
| **Episodes:** 325 |
| **Total Frames:** 102525 |
| **FPS:** 30 |
| **Format:** LeRobot v3.0 |
|
|
| V2 with enriched features: EE pose, velocity, other-arm state, and success labels. |
|
|
| ### Cameras |
| - `observation.images.camera` — Camera camera (1280x800) |
| - `observation.images.wrist` — Wrist camera (1280x720) |
|
|
| ### Features |
| | Feature | Type | Shape | |
| |---------|------|-------| |
| | `observation.state` | float32 | [8] | |
| | `action` | float32 | [8] | |
| | `observation.images.camera` | video | [800, 1280, 3] | |
| | `observation.images.wrist` | video | [720, 1280, 3] | |
| | `observation.force` | float32 | [6] | |
| | `observation.state_other` | float32 | [7] | |
| | `observation.velocity` | float32 | [7] | |
| | `observation.ee_pose` | float32 | [7] | |
| | `action.ee_target` | float32 | [7] | |
| | `next.success` | bool | [1] | |
|
|
| ## Usage |
|
|
| ```python |
| from lerobot.datasets.lerobot_dataset import LeRobotDataset |
| |
| dataset = LeRobotDataset("avatarrobotics/bin-pick-panel-suction-v2") |
| sample = dataset[0] |
| ``` |
|
|
| ## Citation |
|
|
| Created by [Avatar Robotics](https://avatarrobotics.ai). |
|
|
