File size: 4,314 Bytes
39d8e1e 890032c 903b6cb 890032c 903b6cb 890032c 39d8e1e 890032c 903b6cb 890032c 903b6cb 890032c 903b6cb 890032c 903b6cb 890032c 903b6cb 890032c 903b6cb 890032c 903b6cb 890032c | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 | ---
license: apache-2.0
task_categories:
- robotics
tags:
- robotics
- manipulation
- franka-panda
- lerobot
- atombench
pretty_name: AtomBench FrankaPanda
size_categories:
- 1K<n<10K
---
# AtomBench FrankaPanda Dataset
A robot manipulation dataset collected on a **Franka Panda** robot arm, designed for evaluating robotic learning policies. The dataset contains 15 tasks (8 manipulation tasks + 7 instruction-following tasks), each with 100 expert demonstration episodes.
## Dataset Summary
| Item | Value |
|------|-------|
| Robot | Franka Panda |
| Total Tasks | 15 |
| Episodes per Task | 100 |
| Total Episodes | 1,500 |
| FPS | 30 |
| Camera Views | 3 (front, side, wrist) |
| Video Resolution | 640×480 |
| Video Codec | H.264 (libx264) |
| Data Format | LeRobot v2.1 |
## Tasks
### Manipulation Tasks (M1–M8)
| ID | Task Prompt |
|----|-------------|
| M1 | Pick up the cube and place it into the basket. |
| M2 | Pick up the ball and place it into the basket. |
| M3 | Place the bottle upright on the tray. |
| M4 | Push the cube into the marked area. |
| M5 | Pour the coffee beans from the cup into the bowl. |
| M6 | Open the drawer, then close it. |
| M7 | Stack the two cubes. |
| M8 | Open the lid, then close it. |
### Instruction-Following Tasks (I1–I7)
| ID | Task Prompt |
|----|-------------|
| I1 | Pick up the blue cube and place it into the basket. |
| I2 | Pick up the triangular block and place it into the basket. |
| I3 | Pick up the largest block and place it onto the tray. |
| I4 | Pick up the object to the left of the cylinder and place it into the basket. |
| I5 | Pick up exactly two blocks and place them into the basket. |
| I6 | Pick up the red cube and place it into the right basket. |
| I7 | Place all non-red objects into the basket. |
## Dataset Structure
```
franka/
├── README.md
├── {task_name}/
│ ├── meta/
│ │ ├── info.json # Dataset metadata
│ │ ├── episodes.jsonl # Episode metadata
│ │ └── tasks.jsonl # Task descriptions
│ ├── data/
│ │ └── chunk-000/
│ │ ├── episode_000000.parquet
│ │ ├── episode_000001.parquet
│ │ └── ...
│ └── videos/
│ └── chunk-000/
│ ├── image_front/
│ │ ├── episode_000000.mp4
│ │ └── ...
│ ├── image_side/
│ │ ├── episode_000000.mp4
│ │ └── ...
│ └── image_wrist/
│ ├── episode_000000.mp4
│ └── ...
└── ...
```
## Features
Each episode frame contains:
| Feature | Type | Shape | Description |
|---------|------|-------|-------------|
| `action` | float32 | (14,) | Target joint positions + end-effector pose |
| `observation.state` | float32 | (14,) | Current joint positions + end-effector pose |
| `observation.images.image_front` | video | (480, 640, 3) | Front camera view |
| `observation.images.image_side` | video | (480, 640, 3) | Side camera view |
| `observation.images.image_wrist` | video | (480, 640, 3) | Wrist camera view |
| `timestamp` | float32 | (1,) | Frame timestamp |
| `frame_index` | int64 | (1,) | Frame index within episode |
| `episode_index` | int64 | (1,) | Episode index |
| `index` | int64 | (1,) | Global frame index |
| `task_index` | int64 | (1,) | Task index |
### Action / State Space (14-dim)
| Dim | Name |
|-----|------|
| 0–6 | Joint positions (7 DoF arm) |
| 7 | Gripper position |
| 8–10 | End-effector position (x, y, z) |
| 11–13 | End-effector orientation (rx, ry, rz) |
## Usage
```python
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset(
repo_id="AtomBench/FrankaPanda",
root="path/to/local/frankapanda",
)
```
## Citation
If you use this dataset in your research, please cite:
```bibtex
@misc{atombench,
author = {AtomBench Team},
title = {AtomBench FrankaPanda: A Robot Manipulation Dataset},
year = {2026},
publisher = {Hugging Face},
howpublished = {\url{https://huggingface.co/AtomBench}}
}
```
This dataset is released under the [Apache 2.0 License](https://www.apache.org/licenses/LICENSE-2.0). |