DaivdYuan/exumi-pull-drawer-lerobot

---
license: other
tags:
- robotics
- lerobot
- manipulation
- exumi
- nmotion-initiative
---

# Pull Drawer

## Visualizers
- [LeRobot Visualizer](https://huggingface.co/spaces/lerobot/visualize_dataset?path=%2FDaivdYuan%2Fexumi-pull-drawer-lerobot)
- [Neural Motion Visualizer](https://platform.neural-motion.org/open?repo=DaivdYuan%2Fexumi-pull-drawer-lerobot)

## Overview
This dataset is a conversion from an upstream robotics dataset into **LeRobot v3-compatible format**.
It is intended to provide reproducible access in a unified schema.

## Source Dataset
- Dataset ID: `exumi-pull-drawer`
- Project: `exUMI`
- Task: `Pull Drawer`
- Upstream download/source URL: https://huggingface.co/datasets/silicx/exUMI/resolve/main/pull_drawer.zarr.zip?download=true
- Upstream project page: https://silicx.github.io/exUMI/
- Contact: [e-mail]
- Original paper: Xu et al. 2025
- Notes: 281 demos; 4 envs; tactile

## Dataset Format
- Storage format: LeRobot v3 parquet-based dataset
- Total episodes: 281
- Total frames: 162820
- FPS: 30
- Robot type: generic_robot
- Observation feature: `observation.state` with shape `[7]`
- Action feature: `action` with shape `[7]`
- Video streams: present

## Video Modalities
- `observation.images.camera0_rgb`: shape `[224, 224, 3]`
- Frame rate: `30` FPS

## Conversion Notes
- Target schema: LeRobot v3
- Conversion path: ingest -> preprocess -> zarr probe -> convert 1 episode -> upload
- `action` fallback may be used when upstream `data/action` is missing.

## Dataset Structure
`meta/info.json`:
```json
{
"codebase_version": "v3.0",
"robot_type": "generic_robot",
"total_episodes": 281,
"total_frames": 162820,
"fps": 30,
"splits": {"train": "0:281"},
"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": {
"observation.state": {"dtype": "float32", "shape": [7]},
"action": {"dtype": "float32", "shape": [7]}
}
}
```

## Data Splits
- `{'train': '0:281'}`

## Citation
This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
Please also cite the original upstream project and paper listed above.

## Attribution
- Original dataset credit remains with upstream creators.
- Conversion and curation contribution:
- **Convertor: David Yuan, [e-mail], Stanford University**
- **NMotion Initiative** (opensource community): *we make embodied data accessible*