---
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.