Dataset Preparation - Recording

Before Recording

1. Open the Web UI

a. Access the Web UI in Your Browser

Identify the serial number of the AI Worker device.
In this example, the serial number is SNPR48A0000.

Open your web browser and access

http://ffw-{serial number}.local

(Replacing {serial number} with the serial number from the previous step)

Enter the IP Address

Once accessed, the following screen will appear with the Disconnected status.

Initial Screen

2. Select the Robot Type

On the Home page, select the type of robot you are using.

After clicking the Set Robot Type button, the status will change to Connected.

Connected Screen

3. Go to Record Page

INFO

You cannot access Record page unless a robot type has been selected on the Home page. Please ensure that the robot type is selected before proceeding.

After the status changes to Connected, you can access the Record page using the button on the left sidebar, as shown below.

Record Screen

The Record page is divided into three main sections:

• Image Streaming Area (Center): Displays real-time camera streams from the robot.

• Task Info Panel (Right side): Enter task name, task instruction, time values, etc.

• Control Panel (Bottom): Start/stop recording and manage data collection.

The selected robot type is also displayed in the top left corner.

4. Visualize RGB Images

The image stream is displayed automatically upon entering the Record page. You can remove the current stream and select a different one as needed.

To change the image topic:

1. Click the + button in the Image Streaming Area.
2. Choose a topic from the popup window.

5. Enter Task Information

Fill out the task-related fields in the Task Info Panel, as shown below. For more information about what each field means in the Task Info Panel, please refer to 👉 Task Information Field Descriptions below.

INFO

If you enable Push to Hub as shown below, the AI Worker requires a wired connection to the Internet to upload your recorded dataset to the Hugging Face Hub. If a wired connection is not available during data recording, disable Push to Hub and upload your dataset afterward using the huggingface-cli (see the CLI upload guide below).

CLI Upload Guide:

You can upload files or folders to the Hugging Face Hub using the huggingface-cli upload command—for example:

• Your Hugging Face username is robotis-ai
• Your dataset repository name is bottle-pick-and-place
• Move to the directory:

ROBOT PC 🐋 PHYSICAL AI TOOLS

cd /root/.cache/huggingface/lerobot/robotis-ai/bottle-pick-and-place

To use huggingface-cli for uploading datasets, you must first log in with your Hugging Face account token. Run the following command in your terminal and paste your token when prompted:

huggingface-cli login --token <your_hf_token>

You can find your token by visiting https://huggingface.co/settings/tokens. Make sure your token has both read and write permissions enabled.

You can upload it to the Hugging Face Hub with:

huggingface-cli upload robotis-ai/bottle-pick-and-place \
  /root/.cache/huggingface/lerobot/robotis-ai/bottle-pick-and-place \
  / \
  --repo-type=dataset

Filled Panel

👉 Task Information Field Descriptions

Item	Description
Task Name	It is used for the folder name of the dataset
Task Instruction	It is a sentence that instructs the robot what action to perform, such as "pick and place object". In multi-task mode, you can add Task Instructions by clicking the Add Instruction button.
Push to hub	If you want to push the dataset to the Hugging Face Hub, check this box. This allows sharing and training. To push to the Hugging Face Hub, you need to: 1. Have a Hugging Face account 2. Have the necessary permissions to push to the repository
Private Mode	Only available when "Push to hub" is checked. Keeps your dataset private on Hugging Face.
User ID	Your Hugging Face account username, also used as the folder name for the dataset. - If not using Hugging Face, you can use any name. - If using Hugging Face, click Load to select from registered User IDs. - If no User IDs or want a different one, click Change and enter your Hugging Face token. - The Hugging Face token must have both read and write permissions enabled. - If you have a registered account but haven't checked "Push to hub", you can either: 1. Load a registered User ID 2. Manually enter any User ID
FPS	Frame rate for dataset recording. Recommended value is 15.
Tags	Keywords to categorize and organize your dataset in the hub. Multiple tags can be added. Useful for searching or filtering later.
Warmup Time	Duration (in seconds) to warm up the robot before starting the recording
Episode Time	Duration (in seconds) to record each episode
Reset Time	Time allocated (in seconds) for resetting between episodes
Num Episodes	Total number of episodes to record
Optimized Save	If enabled, uses RAM for faster dataset encoding processing
Record Rosbag2	If enabled, records rosbag2 data along with the dataset

TIP

When the Record Rosbag2 option is enabled, rosbag2 data is recorded along with the LeRobot dataset during recording. This feature allows you to save raw data from the robot's camera image topics and joint topics.

The rosbag folder is created at the following path:

~/physical_ai_tools/docker/workspace/rosbag2/{User ID}/

A rosbag is generated for each episode with the following structure:

.
├── 0/
│   ├── 0_0.mcap
│   └── metadata.yaml
├── 1/
│   ├── 1_0.mcap
│   └── metadata.yaml
(...)

NOTE: Rosbag data takes approximately 9 times more storage space compared to the LeRobot dataset.

You are now ready to start recording your dataset.

Start Recording

To begin recording, use the Control Panel located at the bottom of the Record page:

Step 1: Click the Start Button

Click the Start button to begin the recording session. The system will automatically:

• Warm up the robot for the specified Warm-up Time
• Record each episode for the specified Episode Time
• Wait for the specified Reset Time between episodes
• Repeat the above steps for the specified Number of Episodes

Step 2: Monitor and Control During Recording

While recording is in progress, the following controls are available:

• The Stop button saves the current episode in progress and stops the recording. If you press the Start button again, recording will resume from the next episode
• The Retry button cancels the current episode and restarts recording for that episode
• The Next button ends the current episode early and moves to the next episode
• The Finish button ends the recording session and saves the current dataset, regardless of the remaining number of episodes

INFO

• The current recording stage is displayed in the control panel:

  • 📍 Ready to start — Standby mode before recording begins
  • 🔥 Warm-up in progress — Robot is warming up
  • 🔴 Recording in progress — Capturing data
  • 🏠 Reset in progress — Reset time between episodes
  • 💾 Saving... — Encoding and saving the episode

---

Recording Tips

During data collection, the following features are available to assist you:

INFO

• 🔊 A beep alarm will sound at the start of each recording to indicate the timing.

• You can use the buttons on the wearable skeletal leader device to control the recording state:

  • Left button press: 🔄 Retry the current episode
  • Right button press: ➡️ Next episode
  

After Recording

• The dataset will be saved on the ROBOT PC.
• If "Push to Hub" is enabled, the dataset will be uploaded to Hugging Face.
• You can access the recorded dataset at the following path

ROBOT PC

~/physical_ai_tools/docker/huggingface/lerobot/

or

ROBOT PC 🐋 PHYSICAL AI TOOLS

/root/.cache/huggingface/lerobot/