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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 256Γ—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 position
  • torso (1): Torso joint
  • left_arm / right_arm (7 each): Arm joint positions
  • left_arm_eef_pos / right_arm_eef_pos (3 each): End-effector position
  • left_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 command
  • torso (1): Torso command
  • left_arm_eef_pos / right_arm_eef_pos (3 each): EEF position delta
  • left_arm_eef_rot / right_arm_eef_rot (3 each): EEF rotation delta
  • left_gripper_close / right_gripper_close (1 each): Gripper command

Videos (3 cameras):

  • agentview_center_rgb: Front center camera
  • agentview_left_rgb: Front left camera
  • agentview_right_rgb: Front right camera

Dataset Structure

reachy2-kitchen-multimodal/
β”œβ”€β”€ data/
β”‚   └── chunk-000/
β”‚       └── episode_XXXXXX.parquet      # State, action, timestamps per episode
β”œβ”€β”€ videos/
β”‚   └── chunk-000/
β”‚       β”œβ”€β”€ observation.images.cam_robot_0:agentview_center_rgb/
β”‚       β”œβ”€β”€ observation.images.cam_robot_0:agentview_left_rgb/
β”‚       └── observation.images.cam_robot_0:agentview_right_rgb/
β”‚           └── episode_XXXXXX.mp4      # Video per camera per episode
β”œβ”€β”€ meta/
β”‚   β”œβ”€β”€ info.json                       # Dataset metadata & feature schema
β”‚   β”œβ”€β”€ tasks.jsonl                     # Task index β†’ description mapping
β”‚   β”œβ”€β”€ episodes.jsonl                  # Episode index, task, length
β”‚   └── modality.json                   # State/action/video index mapping
└── raw_dataset/                        # Raw sai-zoo teleoperation data
    β”œβ”€β”€ Reachy2IkKitchenDrawerClose-beta/
    β”œβ”€β”€ Reachy2IkKitchenDrawerOpen-beta/
    β”œβ”€β”€ Reachy2IkKitchenStoveTurnOff-beta/
    └── Reachy2IkKitchenStoveTurnOn-beta/
        └── YYYYMMDD_HHMMSS/            # Timestamped episode folder
            β”œβ”€β”€ env_metadata.npy        # Environment metadata
            β”œβ”€β”€ 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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