ACERobotics/arx_dual_arm_data

ARX Dual-Arm Data (ACE-Ego-0)

LeRobot v2.1 demonstrations for the public ACE-Ego-0 ARX SFT task stack_ceramic_bowls. The dataset is one merged LeRobot root (190 episodes, 222,509 frames, 30 FPS) with three cameras: cam_high, cam_left_wrist, and cam_right_wrist.

This is a sibling of ACERobotics/Robocasa_Camera_Space_Eef, not a subdirectory of that repository.

Training reads only the files listed below and the shipped Absolute/Delta q99 statistics. The training code never merges or recomputes norms.

Layout

v0.1/stack_ceramic_bowls/
  data/chunk-000/episode_*.parquet
  videos/chunk-000/observation.images.{cam_high,cam_left_wrist,cam_right_wrist}/episode_*.mp4
  meta/
    info.json
    modality.json
    episodes.jsonl
  norm/{absolute,delta}/
    norm_manifest.json
    merged_stats.json

Download

hf download ACERobotics/arx_dual_arm_data \
  --repo-type dataset \
  --local-dir data/arx

The ACE-Ego-0 bowls recipes already use data_root=data/arx and v0.1/stack_ceramic_bowls, including the in-tree norm/ manifests.