README.md

metadata

license: apache-2.0
task_categories:
  - robotics
  - reinforcement-learning
tags:
  - lerobot
  - reachy2
  - bimanual
  - mobile-manipulation
  - teleoperation
  - kitchen
language:
  - en
size_categories:
  - 10K<n<100K

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 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/
├── 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")