| --- |
| license: apache-2.0 |
| pretty_name: ABC fold_the_paper_box (LeRobot v2.1) |
| language: |
| - en |
| tags: |
| - robotics |
| - manipulation |
| - imitation-learning |
| - bimanual |
| - lerobot |
| - yam |
| task_categories: |
| - robotics |
| size_categories: |
| - 1M<n<10M |
| --- |
| |
| # ABC fold_the_paper_box — LeRobot v2.1 |
| |
| A **LeRobot v2.1** conversion of the `fold_the_paper_box` task from |
| [XDOF/ABC-130k](https://huggingface.co/datasets/XDOF/ABC-130k), prepared for |
| fine-tuning [pi0.5](https://github.com/Physical-Intelligence/openpi) (`pi05_base`) |
| on the bimanual YAM platform. |
|
|
| ## Contents |
|
|
| | Attribute | Value | |
| | --- | --- | |
| | Episodes | 500 (first 500 of 2,387 train episodes, sorted by episode uuid) | |
| | Frames | 2,260,990 (~21 hours) | |
| | FPS | 30 | |
| | Robot | Bimanual station, 2× 6-DoF YAM arms, parallel-jaw grippers | |
| | Cameras | `head_camera`, `left_wrist_camera`, `right_wrist_camera` — 640×480 h264 | |
| | Task instruction | `fold the paper box` | |
| | Codebase version | LeRobot `v2.1` | |
|
|
| ### State / action format |
|
|
| Both `observation.state` and `action` are **14-D float32**: |
|
|
| ``` |
| [left_joint_0..5, left_gripper, right_joint_0..5, right_gripper] |
| ``` |
|
|
| - Joint values are absolute positions in **radians**, base → wrist. |
| - Gripper is the normalized aperture from ABC-130k (**0 = closed, 1 = open**). |
| - `action` holds the **commanded** joint positions (ABC `/{side}-arm-action` + |
| `/{side}-ee-action`); `observation.state` holds the **measured** ones |
| (`/{side}-arm-state` + `/{side}-ee-state`). |
| - Actions are absolute, not deltas. (openpi's pi0.5 recipe applies |
| `DeltaActions` internally at train time.) |
|
|
| ## How this was converted |
|
|
| Source episodes are MCAP files. In ABC-130k the streams run on independent |
| clocks — the action stream at ~200 Hz, state at ~265 Hz, cameras at 30–60 Hz |
| depending on station type — so the conversion resamples everything onto a |
| **fixed 30 Hz tick clock** using causal floor matching (the latest message at or |
| before each tick), over the overlap window of all streams. This matches the tick |
| rate used by the official ABC exporter. |
|
|
| Both station types present in the source are handled: RealSense (mono top |
| camera) and ZED-X (stereo top camera, where one eye is picked deterministically |
| per episode via `sha1(episode_id)` parity). All camera streams are letterboxed |
| to 640×480 preserving aspect ratio. |
|
|
| Conversion script: |
| [`convert_abc_mcap_to_lerobot_v21.py`](https://github.com/Avant-US/openpi) — |
| `scripts/convert_abc_mcap_to_lerobot_v21.py`. |
|
|
| `meta/episode_ids.json` maps each `episode_index` back to its original ABC-130k |
| episode uuid for traceability. |
|
|
| ## Usage |
|
|
| ```python |
| from lerobot.common.datasets.lerobot_dataset import LeRobotDataset |
| |
| ds = LeRobotDataset("Sichang0621/abc_fold_box_v21") |
| print(ds.num_episodes, ds.num_frames, ds.fps) |
| item = ds[0] # observation.state (14,), action (14,), 3× images (3,480,640) |
| ``` |
|
|
| ## Attribution and license |
|
|
| This dataset is **derived from [XDOF/ABC-130k](https://huggingface.co/datasets/XDOF/ABC-130k)** |
| (Apache-2.0), released alongside the ABC project ([abc.bot](https://abc.bot/), |
| [code](https://github.com/amazon-far/abc)). All robot trajectories and imagery |
| originate from ABC-130k; this repository contributes only the format conversion |
| described above. Please cite the ABC project when using this data. |
|
|
| Note that the upstream ABC-130k dataset is access-gated on the Hub. Licensed |
| under Apache-2.0, consistent with the source. |
|
|
