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Datasets:
GT-111
/
rlbench_v3_eef

Tasks:
Robotics
Modalities:
Video
Size:
< 1K
Tags:
lerobot
rlbench
robot-manipulation
visuomotor-policy
Libraries:
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License:
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4

Publish validated dataset 9d03d6ff2996

#4
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  1. README.md +102 -29
  2. close_jar/data/chunk-000/file-000.parquet +2 -2
  3. close_jar/meta/episodes/chunk-000/file-000.parquet +2 -2
  4. close_jar/meta/info.json +120 -122
  5. close_jar/meta/norm_stats.json +0 -106
  6. close_jar/meta/stats.json +667 -667
  7. close_jar/meta/tasks.parquet +2 -2
  8. {insert_onto_square_peg/videos/observation.images.front_rgb → close_jar/videos/observation.images.head}/chunk-000/file-000.mp4 +2 -2
  9. close_jar/videos/{observation.images.front_rgb → observation.images.wrist_right}/chunk-000/file-000.mp4 +2 -2
  10. {insert_onto_square_peg/videos/observation.images.wrist_rgb → close_jar/videos/observation.images.wrist_right}/chunk-000/file-001.mp4 +2 -2
  11. insert_onto_square_peg/data/chunk-000/file-000.parquet +2 -2
  12. insert_onto_square_peg/meta/episodes/chunk-000/file-000.parquet +2 -2
  13. insert_onto_square_peg/meta/info.json +120 -122
  14. insert_onto_square_peg/meta/norm_stats.json +0 -106
  15. insert_onto_square_peg/meta/stats.json +667 -667
  16. insert_onto_square_peg/meta/tasks.parquet +2 -2
  17. {close_jar/videos/observation.images.wrist_rgb → insert_onto_square_peg/videos/observation.images.head}/chunk-000/file-000.mp4 +2 -2
  18. insert_onto_square_peg/videos/{observation.images.wrist_rgb → observation.images.wrist_right}/chunk-000/file-000.mp4 +2 -2
  19. {light_bulb_in/videos/observation.images.front_rgb → insert_onto_square_peg/videos/observation.images.wrist_right}/chunk-000/file-001.mp4 +2 -2
  20. light_bulb_in/data/chunk-000/file-000.parquet +2 -2
  21. light_bulb_in/meta/episodes/chunk-000/file-000.parquet +2 -2
  22. light_bulb_in/meta/info.json +120 -122
  23. light_bulb_in/meta/norm_stats.json +0 -106
  24. light_bulb_in/meta/stats.json +667 -667
  25. light_bulb_in/meta/tasks.parquet +2 -2
  26. light_bulb_in/videos/observation.images.front_rgb/chunk-000/file-000.mp4 +0 -3
  27. light_bulb_in/videos/observation.images.head/chunk-000/file-000.mp4 +3 -0
  28. {meat_off_grill/videos/observation.images.wrist_rgb → light_bulb_in/videos/observation.images.head}/chunk-000/file-001.mp4 +2 -2
  29. light_bulb_in/videos/observation.images.wrist_rgb/chunk-000/file-000.mp4 +0 -3
  30. light_bulb_in/videos/observation.images.wrist_right/chunk-000/file-000.mp4 +3 -0
  31. light_bulb_in/videos/{observation.images.wrist_rgb → observation.images.wrist_right}/chunk-000/file-001.mp4 +2 -2
  32. meat_off_grill/data/chunk-000/file-000.parquet +2 -2
  33. meat_off_grill/meta/episodes/chunk-000/file-000.parquet +2 -2
  34. meat_off_grill/meta/info.json +120 -122
  35. meat_off_grill/meta/norm_stats.json +0 -106
  36. meat_off_grill/meta/stats.json +667 -667
  37. meat_off_grill/meta/tasks.parquet +2 -2
  38. meat_off_grill/videos/observation.images.front_rgb/chunk-000/file-000.mp4 +0 -3
  39. meat_off_grill/videos/observation.images.head/chunk-000/file-000.mp4 +3 -0
  40. meat_off_grill/videos/observation.images.wrist_rgb/chunk-000/file-000.mp4 +0 -3
  41. meat_off_grill/videos/observation.images.wrist_right/chunk-000/file-000.mp4 +3 -0
  42. {close_jar/videos/observation.images.wrist_rgb → meat_off_grill/videos/observation.images.wrist_right}/chunk-000/file-001.mp4 +2 -2
  43. meta/norm_stats.json +54 -0
  44. open_drawer/data/chunk-000/file-000.parquet +2 -2
  45. open_drawer/meta/episodes/chunk-000/file-000.parquet +2 -2
  46. open_drawer/meta/info.json +120 -122
  47. open_drawer/meta/norm_stats.json +0 -106
  48. open_drawer/meta/stats.json +667 -667
  49. open_drawer/meta/tasks.parquet +2 -2
  50. open_drawer/videos/{observation.images.front_rgb → observation.images.head}/chunk-000/file-000.mp4 +2 -2
README.md CHANGED
@@ -2,59 +2,132 @@
2
  license: other
3
  task_categories:
4
  - robotics
 
 
5
  tags:
6
- - lerobot
7
- - rlbench
8
  - robot-manipulation
9
  - visuomotor-policy
 
 
 
 
 
 
 
 
10
  ---
11
 
12
- # RLBench-18 v3 EEF — Train Split (LeRobot v3.0)
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
13
 
14
- RLBench 18-task PerAct dataset converted to LeRobot v3.0 with **lossless H.264 video** (CRF=0, yuv444p).
15
 
16
- ## Format
17
 
18
- - **Per-task LeRobot v3.0 datasets** — each task is a subdirectory with its own `meta/`, `data/`, `videos/`
19
- - **8D EEF**: xyz + quaternion (wxyz, scalar-first) + gripper
20
- - **State**: absolute pose (wxyz passthrough from PerAct)
21
- - **Action**: delta position + absolute quaternion (wxyz) + gripper
22
- - **2 cameras**: front view (`observation.images.front_rgb`) + wrist view (`observation.images.wrist_rgb`)
23
- - **18 tasks**, 100 episodes per task, ~374K total frames
24
- - Raw values; use `{task}/meta/norm_stats.json` for per-task stats
 
 
 
 
 
 
 
 
 
25
 
26
- ## Task List
27
 
28
  close_jar, insert_onto_square_peg, light_bulb_in, meat_off_grill, open_drawer,
29
- place_cups, place_shape_in_shape_sorter, place_wine_at_rack_location, push_buttons,
30
- put_groceries_in_cupboard, put_item_in_drawer, put_money_in_safe, reach_and_drag,
31
- slide_block_to_color_target, stack_blocks, stack_cups, sweep_to_dustpan_of_size, turn_tap
 
 
 
32
 
33
- ## Loading
 
 
 
 
 
 
 
 
 
 
34
 
35
  ```python
36
  from lerobot.datasets import LeRobotDataset
37
 
38
- ds = LeRobotDataset("GT-111/rlbench_v3_eef/close_jar")
39
- # Or load locally after download:
40
- # ds = LeRobotDataset("GT-111/rlbench_v3_eef", revision="close_jar")
41
  ```
42
 
43
- ## Acknowledgments
44
-
45
- Data: PerAct format. Simulator: RLBench.
46
 
47
  ```bibtex
48
- @inproceedings{shridhar2022peract,
49
- title={Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulation},
50
- author={Shridhar, Mohit and Manuelli, Lucas and Fox, Dieter},
51
- booktitle={CoRL},
52
- year={2022}
53
- }
54
  @article{james2019rlbench,
55
  title={RLBench: The Robot Learning Benchmark & Learning Environment},
56
  author={James, Stephen and Ma, Zicong and Rovick Arrojo, David and Davison, Andrew J},
57
  journal={IEEE Robotics and Automation Letters},
58
  year={2020}
59
  }
 
 
 
 
 
 
60
  ```
 
 
 
 
 
2
  license: other
3
  task_categories:
4
  - robotics
5
+ language:
6
+ - en
7
  tags:
8
+ - simulation
9
+ - single-arm
10
  - robot-manipulation
11
  - visuomotor-policy
12
+ - LeRobot
13
+ - v3
14
+ - end-effector-pose
15
+ - rlbench
16
+ size_categories:
17
+ - 100K<n<1M
18
+ pretty_name: "RLBench-18 Train (LeRobot v3 EE)"
19
+ viewer: false
20
  ---
21
 
22
+ # RLBench-18 v3 EEF — Train Split (LeRobot v3)
23
+
24
+ This is a **LeRobot v3** format conversion of the 18-task [RLBench](https://github.com/stepjam/RLBench) training split (PerAct demonstration format), reorganized into a canonical **8D end-effector (EE) pose** representation for multi-task visuomotor policy training. Lossless H.264 video (CRF=0, yuv444p), 20 Hz, single-arm Franka Panda.
25
+
26
+ ## Original Dataset
27
+
28
+ **RLBench: The Robot Learning Benchmark & Learning Environment**
29
+
30
+ > James, S., Ma, Z., Rovick Arrojo, D., Davison, A. J. *RLBench: The Robot Learning Benchmark & Learning Environment*. arXiv:1909.12271, IEEE Robotics and Automation Letters, 2020.
31
+
32
+ - **Paper**: https://arxiv.org/abs/1909.12271
33
+ - **GitHub**: https://github.com/stepjam/RLBench
34
+ - **Demonstration format**: PerAct (Shridhar et al., CoRL 2022) — https://github.com/peract/peract
35
+
36
+ RLBench is a large-scale simulated manipulation benchmark built on CoppeliaSim, with procedurally generated task variations. This conversion uses the 18-task subset popularized by PerAct, with 100 demonstrations per task in the train split.
37
+
38
+ ## License
39
+
40
+ The original RLBench code and assets are released under the MIT license; the PerAct demonstrations inherit their respective terms. This conversion is provided under `license: other` — please consult the upstream repositories for details.
41
+
42
+ ## Conversion Details
43
+
44
+ ### What we changed
45
+
46
+ 1. **Canonical EE Pose Representation**: Per-frame proprioception is unified into a single **8D EE pose vector** — position xyz (metres) + quaternion in scalar-first **WXYZ** order + gripper.
47
+
48
+ 2. **Next-Observation-Absolute Actions**: Actions are stored as **8D absolute EE pose commands**. Row `t` stores the pose that the *next* observation row `t+1` attains (next-observation-absolute alignment). Episodes contain exactly `observations - 1` action rows, so no terminal placeholder rows exist.
49
+
50
+ 3. **LeRobot v3 Format**: Converted to the LeRobot v3 dataset layout with sharded lossless H.264 video (CRF=0, yuv444p) and Parquet-based frame data at 20 Hz.
51
+
52
+ ### What we preserved
53
+
54
+ - Both camera views: `observation.images.head` (front view) and `observation.images.wrist_right` (wrist view), 128x128 RGB
55
+ - Episode structure, task labels, and task-level variation counts
56
+ - Frame-level timestamps
57
+
58
+ ### Observation and action convention
59
+
60
+ - `observation.state`: 8D end-effector pose — `[x, y, z, qw, qx, qy, qz, gripper]`.
61
+ - `action`: 8D absolute end-effector pose command with the same layout; row `t` is the pose attained by observation row `t+1`.
62
+ - Gripper is binary: `0` = closed, `1` = open.
63
 
64
+ ### Layout
65
 
66
+ Each task is a self-contained LeRobot v3 dataset in its own subdirectory with its own `meta/`, `data/`, and `videos/`:
67
 
68
+ ```
69
+ rlbench_v3_eef/
70
+ ├── close_jar/
71
+ │ ├── data/chunk-*/file-*.parquet # Frame data (8D state + 8D action)
72
+ │ ├── videos/
73
+ │ │ ├── observation.images.head/chunk-*/file-*.mp4
74
+ │ │ └── observation.images.wrist_right/chunk-*/file-*.mp4
75
+ │ └── meta/
76
+ │ ├── info.json # Dataset metadata
77
+ │ ├── tasks.parquet # Task/variation vocabulary
78
+ │ ├── episodes/chunk-*/file-*.parquet # Episode index
79
+ │ └── stats.json # Per-feature dataset statistics
80
+ ├── insert_onto_square_peg/
81
+ │ └── ... (18 task directories total)
82
+ └── norm_stats.json # Split-level post-pipeline stats (schema v3)
83
+ ```
84
 
85
+ ### Task list
86
 
87
  close_jar, insert_onto_square_peg, light_bulb_in, meat_off_grill, open_drawer,
88
+ place_cups, place_shape_in_shape_sorter, place_wine_at_rack_location,
89
+ push_buttons, put_groceries_in_cupboard, put_item_in_drawer, put_money_in_safe,
90
+ reach_and_drag, slide_block_to_color_target, stack_blocks, stack_cups,
91
+ sweep_to_dustpan_of_size, turn_tap
92
+
93
+ ### Statistics
94
 
95
+ | Metric | Value |
96
+ |---|---|
97
+ | Total Tasks | 18 |
98
+ | Total Episodes | 1,800 (100 per task) |
99
+ | Total Frames | 373,767 |
100
+ | FPS | 20 |
101
+ | Robot Type | Franka Panda |
102
+ | State Dim | 8 |
103
+ | Action Dim | 8 |
104
+
105
+ ## Usage
106
 
107
  ```python
108
  from lerobot.datasets import LeRobotDataset
109
 
110
+ # Each task is an independent LeRobot dataset under a subdirectory
111
+ dataset = LeRobotDataset("GT-111/rlbench_v3_eef", root=".../close_jar")
 
112
  ```
113
 
114
+ ## Citation
 
 
115
 
116
  ```bibtex
 
 
 
 
 
 
117
  @article{james2019rlbench,
118
  title={RLBench: The Robot Learning Benchmark & Learning Environment},
119
  author={James, Stephen and Ma, Zicong and Rovick Arrojo, David and Davison, Andrew J},
120
  journal={IEEE Robotics and Automation Letters},
121
  year={2020}
122
  }
123
+ @inproceedings{shridhar2022peract,
124
+ title={Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulation},
125
+ author={Shridhar, Mohit and Manuelli, Lucas and Fox, Dieter},
126
+ booktitle={CoRL},
127
+ year={2022}
128
+ }
129
  ```
130
+
131
+ ## Version History
132
+
133
+ - **v3.0** (current): LeRobot v3 conversion with canonical 8D EE pose layout and next-observation-absolute actions
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