| --- |
| license: other |
| task_categories: |
| - robotics |
| tags: |
| - lerobot |
| - rlbench |
| - robot-manipulation |
| - visuomotor-policy |
| --- |
| |
| # RLBench-18 v3 EEF — Train Split (LeRobot v3.0) |
|
|
| RLBench 18-task PerAct dataset converted to LeRobot v3.0 with **lossless H.264 video** (CRF=0, yuv444p). |
|
|
| ## Format |
|
|
| - **Per-task LeRobot v3.0 datasets** — each task is a subdirectory with its own `meta/`, `data/`, `videos/` |
| - **8D EEF**: xyz + quaternion (wxyz, scalar-first) + gripper |
| - **State**: absolute pose (wxyz passthrough from PerAct) |
| - **Action**: delta position + absolute quaternion (wxyz) + gripper |
| - **2 cameras**: front view (`observation.images.front_rgb`) + wrist view (`observation.images.wrist_rgb`) |
| - **18 tasks**, 100 episodes per task, ~374K total frames |
| - Raw values; use `{task}/meta/norm_stats.json` for per-task stats |
|
|
| ## Task List |
|
|
| close_jar, insert_onto_square_peg, light_bulb_in, meat_off_grill, open_drawer, |
| place_cups, place_shape_in_shape_sorter, place_wine_at_rack_location, push_buttons, |
| put_groceries_in_cupboard, put_item_in_drawer, put_money_in_safe, reach_and_drag, |
| slide_block_to_color_target, stack_blocks, stack_cups, sweep_to_dustpan_of_size, turn_tap |
| |
| ## Loading |
| |
| ```python |
| from lerobot.datasets import LeRobotDataset |
| |
| ds = LeRobotDataset("GT-111/rlbench_v3_eef/close_jar") |
| # Or load locally after download: |
| # ds = LeRobotDataset("GT-111/rlbench_v3_eef", revision="close_jar") |
| ``` |
| |
| ## Acknowledgments |
| |
| Data: PerAct format. Simulator: RLBench. |
| |
| ```bibtex |
| @inproceedings{shridhar2022peract, |
| title={Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulation}, |
| author={Shridhar, Mohit and Manuelli, Lucas and Fox, Dieter}, |
| booktitle={CoRL}, |
| year={2022} |
| } |
| @article{james2019rlbench, |
| title={RLBench: The Robot Learning Benchmark & Learning Environment}, |
| author={James, Stephen and Ma, Zicong and Rovick Arrojo, David and Davison, Andrew J}, |
| journal={IEEE Robotics and Automation Letters}, |
| year={2020} |
| } |
| ``` |
| |
