Datasets:
RLBench-18 v3 EEF validation split (LeRobot v3, unified keys)
#1
by GT-111 - opened
This view is limited to 50 files because it contains too many changes. See the raw diff here.
- README.md +111 -10
- close_jar/data/chunk-000/file-000.parquet +2 -2
- close_jar/meta/episodes/chunk-000/file-000.parquet +2 -2
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- {insert_onto_square_peg/videos/observation.images.front_rgb → close_jar/videos/observation.images.head}/chunk-000/file-000.mp4 +2 -2
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- insert_onto_square_peg/meta/episodes/chunk-000/file-000.parquet +2 -2
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- {close_jar/videos/observation.images.wrist_rgb → insert_onto_square_peg/videos/observation.images.head}/chunk-000/file-000.mp4 +2 -2
- insert_onto_square_peg/videos/{observation.images.wrist_rgb → observation.images.wrist_right}/chunk-000/file-000.mp4 +2 -2
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- light_bulb_in/videos/observation.images.wrist_rgb/chunk-000/file-000.mp4 +0 -3
- light_bulb_in/videos/observation.images.wrist_right/chunk-000/file-000.mp4 +3 -0
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- meat_off_grill/meta/tasks.parquet +2 -2
- meat_off_grill/videos/observation.images.front_rgb/chunk-000/file-000.mp4 +0 -3
- meat_off_grill/videos/observation.images.head/chunk-000/file-000.mp4 +3 -0
- meat_off_grill/videos/observation.images.wrist_rgb/chunk-000/file-000.mp4 +0 -3
- meat_off_grill/videos/observation.images.wrist_right/chunk-000/file-000.mp4 +3 -0
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- open_drawer/videos/observation.images.wrist_right/chunk-000/file-000.mp4 +3 -0
- place_cups/data/chunk-000/file-000.parquet +2 -2
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README.md
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license: other
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task_categories:
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tags:
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---
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# RLBench-18 v3 EEF — Validation Split (LeRobot v3
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##
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license: other
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task_categories:
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- robotics
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language:
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- en
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tags:
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- simulation
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- single-arm
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- robot-manipulation
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- visuomotor-policy
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- LeRobot
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- v3
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- end-effector-pose
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- rlbench
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size_categories:
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- 10K<n<100K
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pretty_name: "RLBench-18 Validation (LeRobot v3 EE)"
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viewer: false
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---
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# RLBench-18 v3 EEF — Validation Split (LeRobot v3)
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Held-out validation split of the 18-task [RLBench](https://github.com/stepjam/RLBench) PerAct dataset, converted to **LeRobot v3** with lossless H.264 video (CRF=0, yuv444p), 20 Hz, single-arm Franka Panda. 25 episodes per task, held out from the same demonstration distribution as the [train split](https://huggingface.co/datasets/GT-111/rlbench_v3_eef).
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## Original Dataset
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**RLBench: The Robot Learning Benchmark & Learning Environment**
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> 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.
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- **Paper**: https://arxiv.org/abs/1909.12271
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- **GitHub**: https://github.com/stepjam/RLBench
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- **Demonstration format**: PerAct (Shridhar et al., CoRL 2022) — https://github.com/peract/peract
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## License
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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.
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## Conversion Details
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Identical pipeline and conventions as the train split — see below. The only difference is the held-out episode selection (25 episodes per task).
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### What we changed
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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.
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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.
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3. **LeRobot v3 Format**: Sharded lossless H.264 video (CRF=0, yuv444p) and Parquet-based frame data at 20 Hz.
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### What we preserved
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- Both camera views: `observation.images.head` (front view) and `observation.images.wrist_right` (wrist view), 128x128 RGB
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- Episode structure, task labels, and task-level variation counts
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- Frame-level timestamps
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### Observation and action convention
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- `observation.state`: 8D end-effector pose — `[x, y, z, qw, qx, qy, qz, gripper]`.
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- `action`: 8D absolute end-effector pose command with the same layout; row `t` is the pose attained by observation row `t+1`.
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- Gripper is binary: `0` = closed, `1` = open.
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### Layout
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Each task is a self-contained LeRobot v3 dataset in its own subdirectory with its own `meta/`, `data/`, and `videos/`:
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```
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rlbench_v3_eef_val/
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├── close_jar/
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│ ├── data/chunk-*/file-*.parquet # Frame data (8D state + 8D action)
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│ ├── videos/
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│ │ ├── observation.images.head/chunk-*/file-*.mp4
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│ │ └── observation.images.wrist_right/chunk-*/file-*.mp4
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│ └── meta/
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│ ├── info.json # Dataset metadata
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│ ├── tasks.parquet # Task/variation vocabulary
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│ ├── episodes/chunk-*/file-*.parquet # Episode index
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│ └── stats.json # Per-feature dataset statistics
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├── insert_onto_square_peg/
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│ └── ... (18 task directories total)
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└── norm_stats.json # Split-level post-pipeline stats (schema v3)
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```
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### Statistics
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| Metric | Value |
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|---|---|
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| Total Tasks | 18 |
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| Total Episodes | 450 (25 per task) |
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| Total Frames | 95,381 |
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| FPS | 20 |
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| Robot Type | Franka Panda |
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| State Dim | 8 |
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| Action Dim | 8 |
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## Usage
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```python
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from lerobot.datasets import LeRobotDataset
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# Each task is an independent LeRobot dataset under a subdirectory
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dataset = LeRobotDataset("GT-111/rlbench_v3_eef_val", root=".../close_jar")
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```
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## Citation
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```bibtex
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@article{james2019rlbench,
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title={RLBench: The Robot Learning Benchmark & Learning Environment},
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author={James, Stephen and Ma, Zicong and Rovick Arrojo, David and Davison, Andrew J},
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journal={IEEE Robotics and Automation Letters},
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year={2020}
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}
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@inproceedings{shridhar2022peract,
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title={Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulation},
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author={Shridhar, Mohit and Manuelli, Lucas and Fox, Dieter},
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booktitle={CoRL},
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year={2022}
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}
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```
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## Version History
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- **v3.0** (current): LeRobot v3 conversion with canonical 8D EE pose layout and next-observation-absolute actions
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|
close_jar/meta/norm_stats.json
DELETED
|
@@ -1,106 +0,0 @@
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|
close_jar/meta/stats.json
CHANGED
|
@@ -1,668 +1,668 @@
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| 1 |
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{insert_onto_square_peg/videos/observation.images.front_rgb → close_jar/videos/observation.images.head}/chunk-000/file-000.mp4
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| 56 |
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|
light_bulb_in/meta/stats.json
CHANGED
|
@@ -1,668 +1,668 @@
|
|
| 1 |
{
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meat_off_grill/meta/norm_stats.json
DELETED
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meat_off_grill/meta/stats.json
CHANGED
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"gripper"
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| 12 |
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| 14 |
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| 53 |
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|
| 55 |
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|
| 56 |
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"dx",
|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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"dqx",
|
| 61 |
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|
| 62 |
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| 63 |
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|
open_drawer/meta/stats.json
CHANGED
|
@@ -1,668 +1,668 @@
|
|
| 1 |
{
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