---
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).