| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - libero |
| - lerobot |
| - embodied-ai |
| - manipulation |
| pretty_name: RoboCerebra (LeRobot v2.1 Format) |
| size_categories: |
| - 1G<n<10G |
| --- |
| |
| # RoboCerebra (LeRobot v2.1 Format) |
|
|
| ## Dataset Description |
| This dataset is a converted version of [**RoboCerebra**](https://github.com/qiuboxiang/RoboCerebra), now formatted for compatibility with the **[LeRobot](https://github.com/huggingface/lerobot)** ecosystem (v2.1). |
|
|
| While the official RoboCerebra dataset only provides HDF5 files and RLDS conversion methods, this version enables seamless training with VLA models within the LeRobot framework. |
|
|
| - **Original Dataset:** [RoboCerebra](https://github.com/qiuboxiang/RoboCerebra) |
| - **Conversion Tool:** [any4lerobot](https://github.com/Tavish9/any4lerobot) |
| - **Format:** LeRobot v2.1 |
| - **Robot:** Panda Robot (7-DOF Arm + Gripper) |
| - **Tasks:** 10 long-term memory manipulation tasks. |
|
|
| ## Dataset Structure |
| The dataset follows the standard LeRobot v2.1 structure: |
| - **`data/`**: Contains episode data in Parquet format. |
| - **`meta/`**: Contains task definitions, statistics, and camera configurations. |
| - **`videos/`**: (If included) High-quality task execution videos. |
|
|
| ### Key Observations/Actions |
| - `observation.images.agentview`: 256x256 agent-view camera RGB. |
| - `observation.images.eye_in_hand`: 256x256 wrist-mounted camera RGB. |
| - `observation.state`: Robot joint positions and gripper state. |
| - `action`: 7-DOF delta end-effector pose + gripper action. |
