Hugging Face's logo

Datasets:
noskiper-chwy
/
buster-dual-arm-demo

Tasks:
Robotics
Languages:
English
Size:
n<1K
Tags:
robotics
manipulation
dual-arm
buster-robot
lerobot
isaac-sim
License:
Dataset card Files
xet
Community
Dataset Viewer
The dataset viewer is not available for this split.
Cannot extract the features (columns) for the split 'train' of the config 'default' of the dataset.
Error code:   FeaturesError
Exception:    ArrowInvalid
Message:      Schema at index 1 was different: 
episode_index: int64
tasks: list<item: string>
length: int64
vs
codebase_version: string
dataset_name: string
robot_type: string
total_episodes: int64
total_frames: int64
total_tasks: int64
total_videos: int64
total_chunks: int64
chunks_size: int64
fps: double
splits: struct<train: string>
data_path: string
video_path: string
features: struct<action: struct<dtype: string, shape: list<item: int64>, names: list<item: string>>, observation.state: struct<dtype: string, shape: list<item: int64>, names: list<item: string>>, observation.images.webcam: struct<dtype: string, shape: list<item: int64>, names: list<item: string>, info: struct<video.fps: double, video.height: int64, video.width: int64, video.channels: int64, video.codec: string, video.pix_fmt: string, video.is_depth_map: bool, has_audio: bool>>, timestamp: struct<dtype: string, shape: list<item: int64>, names: null>, frame_index: struct<dtype: string, shape: list<item: int64>, names: null>, episode_index: struct<dtype: string, shape: list<item: int64>, names: null>, index: struct<dtype: string, shape: list<item: int64>, names: null>, task_index: struct<dtype: string, shape: list<item: int64>, names: null>, reward: struct<dtype: string, shape: list<item: int64>, names: null>, next.reward: struct<dtype: string, shape: list<item: int64>, names: null>, done: struct<dtype: string, shape: list<item: int64>, names: null>, next.done: struct<dtype: string, shape: list<item: int64>, names: null>>
Traceback:    Traceback (most recent call last):
                File "/src/services/worker/src/worker/job_runners/split/first_rows.py", line 228, in compute_first_rows_from_streaming_response
                  iterable_dataset = iterable_dataset._resolve_features()
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 3422, in _resolve_features
                  features = _infer_features_from_batch(self.with_format(None)._head())
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 2187, in _head
                  return next(iter(self.iter(batch_size=n)))
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 2391, in iter
                  for key, example in iterator:
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 1882, in __iter__
                  for key, pa_table in self._iter_arrow():
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 1904, in _iter_arrow
                  yield from self.ex_iterable._iter_arrow()
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 527, in _iter_arrow
                  yield new_key, pa.Table.from_batches(chunks_buffer)
                File "pyarrow/table.pxi", line 4116, in pyarrow.lib.Table.from_batches
                File "pyarrow/error.pxi", line 154, in pyarrow.lib.pyarrow_internal_check_status
                File "pyarrow/error.pxi", line 91, in pyarrow.lib.check_status
              pyarrow.lib.ArrowInvalid: Schema at index 1 was different: 
              episode_index: int64
              tasks: list<item: string>
              length: int64
              vs
              codebase_version: string
              dataset_name: string
              robot_type: string
              total_episodes: int64
              total_frames: int64
              total_tasks: int64
              total_videos: int64
              total_chunks: int64
              chunks_size: int64
              fps: double
              splits: struct<train: string>
              data_path: string
              video_path: string
              features: struct<action: struct<dtype: string, shape: list<item: int64>, names: list<item: string>>, observation.state: struct<dtype: string, shape: list<item: int64>, names: list<item: string>>, observation.images.webcam: struct<dtype: string, shape: list<item: int64>, names: list<item: string>, info: struct<video.fps: double, video.height: int64, video.width: int64, video.channels: int64, video.codec: string, video.pix_fmt: string, video.is_depth_map: bool, has_audio: bool>>, timestamp: struct<dtype: string, shape: list<item: int64>, names: null>, frame_index: struct<dtype: string, shape: list<item: int64>, names: null>, episode_index: struct<dtype: string, shape: list<item: int64>, names: null>, index: struct<dtype: string, shape: list<item: int64>, names: null>, task_index: struct<dtype: string, shape: list<item: int64>, names: null>, reward: struct<dtype: string, shape: list<item: int64>, names: null>, next.reward: struct<dtype: string, shape: list<item: int64>, names: null>, done: struct<dtype: string, shape: list<item: int64>, names: null>, next.done: struct<dtype: string, shape: list<item: int64>, names: null>>

Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.

Buster Dual-Arm Robot Dataset

This dataset contains demonstration data from a Buster dual-arm robot system recorded in Isaac Sim.

Dataset Details

  • Robot Type: Buster Dual-Arm (2x UR arms + 2x Robotiq 3F grippers)
  • Total Episodes: 1
  • Total Frames: 352
  • FPS: 8.62
  • Video Resolution: 1280x720x3 (RGB)
  • State Dimensions: 34 joints
  • Action Dimensions: 34 joints

Robot Configuration

Arms

  • Arm 1: UR arm (6 DOF)
  • Arm 2: UR arm (6 DOF)

Grippers

  • Gripper 1: Robotiq 3F gripper (11 joints)
  • Gripper 2: Robotiq 3F gripper (11 joints)

Sensors

  • Base Camera: RGB camera providing visual observations
  • Joint States: Position feedback from all joints
  • Joint Commands: Action commands sent to robot

Data Format

This dataset follows the LeRobot v2.1 format:

  • State: Joint positions (34D vector)
  • Action: Joint commands (34D vector)
  • Video: RGB observations from base camera
  • Metadata: Task descriptions, episode info, statistics

Usage 

from lerobot.common.datasets.lerobot_dataset import LeRobotDataset

# Load the dataset
dataset = LeRobotDataset("noskiper-chwy/buster-dual-arm-demo")

# Access data
first_frame = dataset[0]
state = first_frame["observation.state"]
action = first_frame["action"]

Recording Environment

  • Simulator: Isaac Sim
  • Topics Recorded:
    • /joint_states - Robot state
    • /isaac_joint_commands - Robot commands
    • /base_camera_sensor/image_raw - Visual observations

Limitations

  • Single episode demonstration
  • No task descriptions (using "Unknown Task")
  • Modality configuration treats all joints as single arm (should be split for dual-arm)

Citation

If you use this dataset, please cite:

@dataset{buster_dual_arm_demo,
  title={Buster Dual-Arm Robot Demonstration Dataset},
  author={noskiper},
  year={2025},
  url={https://huggingface.co/datasets/noskiper-chwy/buster-dual-arm-demo}
}
Downloads last month
18