| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - robotics |
| - lerobot |
| - manipulation |
| - franka |
| - isaac-lab |
| - simulation |
| - oracle |
| configs: |
| - config_name: default |
| data_files: data/*/*.parquet |
| --- |
| |
| This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
|
|
| ## Dataset Description |
|
|
| Simulated manipulation demonstrations generated in **RoboLab** (Isaac Lab) by a deterministic **waypoint oracle** with privileged state access (no cameras used for control). Task: `FoodPacking1Cans`, difficulty level `medium`. |
|
|
| ## What this is |
|
|
| Part of a 3 task x 3 difficulty grid of oracle datasets. The oracle replays a fixed waypoint recipe solved with rest-cost IK (pyroki) and is rate-limited to match the arm-speed cap of the corresponding RL policy, so the action statistics stay in the same regime as learned policies. |
|
|
| ## Difficulty |
|
|
| Initial object poses are drawn from a pre-generated layout dataset. The level controls two axes: |
|
|
| | level | position fraction | yaw range | |
| |---|---|---| |
| | soft | 0.20 x feasible | 0 deg | |
| | medium | 0.50 x feasible | +/- 25 deg | |
| | hard | 1.00 x feasible | +/- 180 deg | |
|
|
| Oracle success rate on this level: **0.61** (measured, n>=128 attempts). Only successful episodes are stored. |
|
|
| ## Format |
|
|
| - LeRobot v3.0 (tag `v3.0`), 15 fps |
| - Two cameras at 270x480: `observation.images.wrist_cam`, `observation.images.over_shoulder_left_camera` |
| - Videos are H.264 / yuv420p and **CFR-normalized** (constant PTS delta). Non-CFR video breaks torchcodec-based training loaders. |
| - `q01`/`q99` quantile statistics are computed once after merging all shards. |
|
|
| ## Action convention (read this before training) |
|
|
| Actions are **absolute DROID-frame joint targets** (7 arm joints, j7 offset -pi/4), not deltas. The gripper channel is **binary {0, 1}**, not continuous. A continuous gripper signal is known to overestimate downstream policy performance on this benchmark, which is why it is binarized at collection time. |
|
|
| Success requires the object to remain in the container for a 15-step hold, so the final frames of each episode are a settle phase rather than the moment of release. |
|
|
| ## Provenance |
|
|
| `meta/provenance.json` records the oracle identity, the recipe reference, the rate-limit vector, and the initial-pose level. Episodes were collected without cameras and rendered afterwards by teleporting through the saved states, so the same trajectories can be re-rendered at other resolutions or camera poses. |
|
|
| ## License |
|
|
| Apache-2.0. Generated entirely in simulation; contains no third-party recorded data. |
| ## Visualize |
|
|
| [Open in the LeRobot dataset visualizer](https://huggingface.co/spaces/lerobot/visualize_dataset?dataset=DAVIAN-Robotics/RoboLab-FoodPacking1Cans-medium-capx-oracle-260812&episode=0) |
|
|
|
|
| - **Homepage:** [More Information Needed] |
| - **Paper:** [More Information Needed] |
| - **License:** apache-2.0 |
|
|
| ## Dataset Structure |
|
|
| [meta/info.json](meta/info.json): |
| ```json |
| { |
| "codebase_version": "v3.0", |
| "robot_type": "unknown", |
| "total_episodes": 3095, |
| "total_frames": 467310, |
| "total_tasks": 1, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "fps": 15, |
| "splits": { |
| "train": "0:3095" |
| }, |
| "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", |
| "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", |
| "features": { |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 8 |
| ], |
| "names": { |
| "motors": [ |
| "j0", |
| "j1", |
| "j2", |
| "j3", |
| "j4", |
| "j5", |
| "j6", |
| "gripper" |
| ] |
| }, |
| "fps": 15 |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 8 |
| ], |
| "names": { |
| "motors": [ |
| "joint_0", |
| "joint_1", |
| "joint_2", |
| "joint_3", |
| "joint_4", |
| "joint_5", |
| "joint_6", |
| "joint_7" |
| ] |
| }, |
| "fps": 15 |
| }, |
| "observation.velocity": { |
| "dtype": "float32", |
| "shape": [ |
| 8 |
| ], |
| "names": null, |
| "fps": 15 |
| }, |
| "episode_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "frame_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "task_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "timestamp": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "next.done": { |
| "dtype": "bool", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 15 |
| }, |
| "observation.images.over_shoulder_left_camera": { |
| "dtype": "video", |
| "shape": [ |
| 270, |
| 480, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 270, |
| "video.width": 480, |
| "video.codec": "avc1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 15.0, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.wrist_cam": { |
| "dtype": "video", |
| "shape": [ |
| 270, |
| 480, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 270, |
| "video.width": 480, |
| "video.codec": "avc1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 15.0, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| } |
| } |
| } |
| ``` |
|
|
|
|
| ## Citation |
|
|
| **BibTeX:** |
|
|
| ```bibtex |
| [More Information Needed] |
| ``` |
