| --- |
| 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). |
