Datasets:
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observation.state
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End of preview. Expand
in Data Studio
Reachy2 Kitchen Multimodal Dataset
Teleoperation dataset for Reachy2 mobile bi-manipulator performing kitchen tasks in the SAI platform. Collected using sai-zoo teleoperation tool and converted to LeRobot format.
Dataset Statistics
| Metric | Value |
|---|---|
| Episodes | 219 |
| Total Frames | 23,644 |
| Tasks | 9 |
| FPS | 20 |
| Camera Resolution | 256×256 |
Tasks
| Task | Description |
|---|---|
| Drawer | Open/close left drawer, Open/close right drawer |
| Stove | Turn on/off front-left, front-right, rear-left burners |
Features
Observation State (36 dims):
base(3): Mobile base positiontorso(1): Torso jointleft_arm/right_arm(7 each): Arm joint positionsleft_arm_eef_pos/right_arm_eef_pos(3 each): End-effector positionleft_arm_eef_quat/right_arm_eef_quat(4 each): End-effector orientation (quaternion)left_hand/right_hand(1 each): Gripper position
Action (18 dims):
base(3): Base velocity commandtorso(1): Torso commandleft_arm_eef_pos/right_arm_eef_pos(3 each): EEF position deltaleft_arm_eef_rot/right_arm_eef_rot(3 each): EEF rotation deltaleft_gripper_close/right_gripper_close(1 each): Gripper command
Videos (3 cameras):
agentview_center_rgb: Front center cameraagentview_left_rgb: Front left cameraagentview_right_rgb: Front right camera
Dataset Structure
reachy2-kitchen-multimodal/
├── data/
│ └── chunk-000/
│ └── episode_XXXXXX.parquet # State, action, timestamps per episode
├── videos/
│ └── chunk-000/
│ ├── observation.images.cam_robot_0:agentview_center_rgb/
│ ├── observation.images.cam_robot_0:agentview_left_rgb/
│ └── observation.images.cam_robot_0:agentview_right_rgb/
│ └── episode_XXXXXX.mp4 # Video per camera per episode
├── meta/
│ ├── info.json # Dataset metadata & feature schema
│ ├── tasks.jsonl # Task index → description mapping
│ ├── episodes.jsonl # Episode index, task, length
│ └── modality.json # State/action/video index mapping
└── raw_dataset/ # Raw sai-zoo teleoperation data
├── Reachy2IkKitchenDrawerClose-beta/
├── Reachy2IkKitchenDrawerOpen-beta/
├── Reachy2IkKitchenStoveTurnOff-beta/
└── Reachy2IkKitchenStoveTurnOn-beta/
└── YYYYMMDD_HHMMSS/ # Timestamped episode folder
├── env_metadata.npy # Environment metadata
├── episode_metadata.npy # Episode metadata
└── episodes.hdf5 # Raw episode data
Usage
Load with LeRobot:
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset("CompeteSAI/reachy2-kitchen-multimodal")
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