noskiper-chwy/buster-dual-arm-multi-cam

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}
}