LeRobot-worldwide-hackathon/134-npaka-studio-air-hockey

SO-101 Air Hockey Dataset

Overview

This is a dataset for playing air hockey on SO-101. Created at the LeRobot Worldwide Hackathon.

Team Number: 134

Team Name: npaka studio

Team participants:

• Hidekazu Furukawa

• Masatoshi Uchida

• Hiroyuki Osone

Equipment used

• SO-101 Pro

• Tabletop AIR HOCKEY

https://www.amazon.co.jp/dp/B00IERO4JO

• iPhone (Camera)

setup

Learning method Training was conducted using LeRobot's ACT, and learn 10,000 steps with Google Colab A100.

!python lerobot/scripts/train.py \
    --dataset.repo_id=LeRobot-worldwide-hackathon/134-npaka-studio-air-hockey \
    --policy.type=act \
    --output_dir=outputs/train \
    --job_name=air-hockey \
    --policy.device=cuda \
    --wandb.enable=true \
    --save_freq=1000 \
    --eval_freq=1000 \
    --steps=100000

Evaluation

python -m lerobot.record  \                                   
    --robot.type=so101_follower \
    --robot.port=/dev/tty.usbmodem5A4B0466281 \
    --robot.id=my_awesome_follower_arm \
    --robot.cameras="{ front: {type: opencv, index_or_path: 1, width: 1920, height: 1080, fps: 30}}" \
    --display_data=true \
    --dataset.repo_id=npaka/eval_so101 \
    --dataset.single_task="Air Hockey" \
    --policy.device=mps \
    --policy.path=AIBunCho/air-hockey-100000

Model

• AIBunCho/air-hockey-100000
• AIBunCho/air-hockey-50000
• AIBunCho/air-hockey-30000
• AIBunCho/air-hockey-10000
• AIBunCho/air-hockey-5000

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "so101_follower",
    "total_episodes": 12,
    "total_frames": 21545,
    "total_tasks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:12"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "fps": 30
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "fps": 30
        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
                1080,
                1920,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 1080,
                "video.width": 1920,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null,
            "fps": 30
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 30
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 30
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 30
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 30
        }
    },
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500
}

Citation

BibTeX:

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