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Datasets:
CompeteSAI
/
reachy2-kitchen-multimodal

Tasks:
Robotics
Reinforcement Learning
Modalities:
Tabular
Video
Formats:
parquet
Languages:
English
Size:
10K - 100K
Tags:
lerobot
reachy2
bimanual
mobile-manipulation
teleoperation
kitchen
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
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- ---
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- license: apache-2.0
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- task_categories:
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- - robotics
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- tags:
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- - lerobot
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- - reachy2
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- - bimanual
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- - mobile-manipulation
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- - teleoperation
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- - kitchen
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- ---
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-
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- # Reachy2 Kitchen Multimodal Dataset
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-
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- Teleoperation dataset for **Reachy2 mobile bi-manipulator** performing kitchen tasks in the **SAI platform**. Collected using [`sai-zoo`](https://github.com/ArenaX-Labs/sai-zoo.git) teleoperation tool and converted to [LeRobot](https://github.com/huggingface/lerobot) format.
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-
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- ## Dataset Statistics
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-
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- | Metric | Value |
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- |--------|-------|
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- | Episodes | 219 |
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- | Total Frames | 23,644 |
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- | Tasks | 9 |
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- | FPS | 20 |
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- | Camera Resolution | 256×256 |
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-
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- ## Tasks
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-
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- | Task | Description |
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- |------|-------------|
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- | Drawer | Open/close left drawer, Open/close right drawer |
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- | Stove | Turn on/off front-left, front-right, rear-left burners |
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-
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- ## Features
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-
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- **Observation State** (36 dims):
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- - `base` (3): Mobile base position
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- - `torso` (1): Torso joint
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- - `left_arm` / `right_arm` (7 each): Arm joint positions
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- - `left_arm_eef_pos` / `right_arm_eef_pos` (3 each): End-effector position
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- - `left_arm_eef_quat` / `right_arm_eef_quat` (4 each): End-effector orientation (quaternion)
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- - `left_hand` / `right_hand` (1 each): Gripper position
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-
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- **Action** (18 dims):
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- - `base` (3): Base velocity command
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- - `torso` (1): Torso command
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- - `left_arm_eef_pos` / `right_arm_eef_pos` (3 each): EEF position delta
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- - `left_arm_eef_rot` / `right_arm_eef_rot` (3 each): EEF rotation delta
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- - `left_gripper_close` / `right_gripper_close` (1 each): Gripper command
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-
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- **Videos** (3 cameras):
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- - `agentview_center_rgb`: Front center camera
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- - `agentview_left_rgb`: Front left camera
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- - `agentview_right_rgb`: Front right camera
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-
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- ## Dataset Structure
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-
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- ```
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- reachy2-kitchen-multimodal/
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- ├── data/
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- │ └── chunk-000/
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- │ └── episode_XXXXXX.parquet # State, action, timestamps per episode
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- ├── videos/
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- │ └── chunk-000/
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- │ ├── observation.images.cam_robot_0:agentview_center_rgb/
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- │ ├── observation.images.cam_robot_0:agentview_left_rgb/
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- │ └── observation.images.cam_robot_0:agentview_right_rgb/
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- │ └── episode_XXXXXX.mp4 # Video per camera per episode
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- ├── meta/
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- │ ├── info.json # Dataset metadata & feature schema
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- │ ├── tasks.jsonl # Task index → description mapping
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- │ ├── episodes.jsonl # Episode index, task, length
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- │ └── modality.json # State/action/video index mapping
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- └── raw_dataset/ # Raw sai-zoo teleoperation data
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- ├── Reachy2IkKitchenDrawerClose-beta/
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- ├── Reachy2IkKitchenDrawerOpen-beta/
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- ├── Reachy2IkKitchenStoveTurnOff-beta/
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- └── Reachy2IkKitchenStoveTurnOn-beta/
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- └── YYYYMMDD_HHMMSS/ # Timestamped episode folder
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- ├── env_metadata.npy # Environment metadata
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- ├── episode_metadata.npy # Episode metadata
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- └── episodes.hdf5 # Raw episode data
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- ```
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-
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- ## Usage
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-
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- **Load with LeRobot:**
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- ```python
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- from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
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-
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- dataset = LeRobotDataset("CompeteSAI/reachy2-kitchen-multimodal")
 
 
 
 
 
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  ```
 
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+ ---
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+ license: apache-2.0
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+ task_categories:
4
+ - robotics
5
+ - reinforcement-learning
6
+ tags:
7
+ - lerobot
8
+ - reachy2
9
+ - bimanual
10
+ - mobile-manipulation
11
+ - teleoperation
12
+ - kitchen
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+ language:
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+ - en
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+ size_categories:
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+ - 10K<n<100K
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+ ---
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+
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+ # Reachy2 Kitchen Multimodal Dataset
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+
21
+ Teleoperation dataset for **Reachy2 mobile bi-manipulator** performing kitchen tasks in the **SAI platform**. Collected using [`sai-zoo`](https://github.com/ArenaX-Labs/sai-zoo.git) teleoperation tool and converted to [LeRobot](https://github.com/huggingface/lerobot) format.
22
+
23
+ ## Dataset Statistics
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+
25
+ | Metric | Value |
26
+ |--------|-------|
27
+ | Episodes | 219 |
28
+ | Total Frames | 23,644 |
29
+ | Tasks | 9 |
30
+ | FPS | 20 |
31
+ | Camera Resolution | 256×256 |
32
+
33
+ ## Tasks
34
+
35
+ | Task | Description |
36
+ |------|-------------|
37
+ | Drawer | Open/close left drawer, Open/close right drawer |
38
+ | Stove | Turn on/off front-left, front-right, rear-left burners |
39
+
40
+ ## Features
41
+
42
+ **Observation State** (36 dims):
43
+ - `base` (3): Mobile base position
44
+ - `torso` (1): Torso joint
45
+ - `left_arm` / `right_arm` (7 each): Arm joint positions
46
+ - `left_arm_eef_pos` / `right_arm_eef_pos` (3 each): End-effector position
47
+ - `left_arm_eef_quat` / `right_arm_eef_quat` (4 each): End-effector orientation (quaternion)
48
+ - `left_hand` / `right_hand` (1 each): Gripper position
49
+
50
+ **Action** (18 dims):
51
+ - `base` (3): Base velocity command
52
+ - `torso` (1): Torso command
53
+ - `left_arm_eef_pos` / `right_arm_eef_pos` (3 each): EEF position delta
54
+ - `left_arm_eef_rot` / `right_arm_eef_rot` (3 each): EEF rotation delta
55
+ - `left_gripper_close` / `right_gripper_close` (1 each): Gripper command
56
+
57
+ **Videos** (3 cameras):
58
+ - `agentview_center_rgb`: Front center camera
59
+ - `agentview_left_rgb`: Front left camera
60
+ - `agentview_right_rgb`: Front right camera
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+
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+ ## Dataset Structure
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+
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+ ```
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+ reachy2-kitchen-multimodal/
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+ ├── data/
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+ │ └── chunk-000/
68
+ │ └── episode_XXXXXX.parquet # State, action, timestamps per episode
69
+ ├── videos/
70
+ │ └── chunk-000/
71
+ │ ├── observation.images.cam_robot_0:agentview_center_rgb/
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+ │ ├── observation.images.cam_robot_0:agentview_left_rgb/
73
+ │ └── observation.images.cam_robot_0:agentview_right_rgb/
74
+ │ └── episode_XXXXXX.mp4 # Video per camera per episode
75
+ ├── meta/
76
+ │ ├── info.json # Dataset metadata & feature schema
77
+ │ ├── tasks.jsonl # Task index → description mapping
78
+ │ ├── episodes.jsonl # Episode index, task, length
79
+ │ └── modality.json # State/action/video index mapping
80
+ └── raw_dataset/ # Raw sai-zoo teleoperation data
81
+ ├── Reachy2IkKitchenDrawerClose-beta/
82
+ ├── Reachy2IkKitchenDrawerOpen-beta/
83
+ ├── Reachy2IkKitchenStoveTurnOff-beta/
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+ └── Reachy2IkKitchenStoveTurnOn-beta/
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+ └── YYYYMMDD_HHMMSS/ # Timestamped episode folder
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+ ├── env_metadata.npy # Environment metadata
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+ ├── episode_metadata.npy # Episode metadata
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+ └── episodes.hdf5 # Raw episode data
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+ ```
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+
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+ ## Usage
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+
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+ **Load with LeRobot:**
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+ ```python
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+ from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
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+
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+ dataset = LeRobotDataset("CompeteSAI/reachy2-kitchen-multimodal")
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  ```