README.md

---
license: cc-by-4.0
task_categories:
  - robotics
tags:
  - robotics
  - imitation-learning
  - bimanual-manipulation
  - aloha-agilex
  - lerobot
pretty_name: RoboPro
size_categories:
  - 10K<n<100K
---

# RoboPro

**RoboPro** is an 80-task bimanual manipulation dataset collected on a dual-arm **Aloha-Agilex** platform. It contains 15,999 expert teleoperation episodes (3.73 M frames at 50 Hz) recorded from three RGB cameras and synchronised 14-DoF joint commands. Each task includes a **clean** variant and ten **cluttered** variants (`d6`…`d15`) with progressively added distractor objects.

The dataset is released in [LeRobot v2.1](https://github.com/huggingface/lerobot) format.

## At a glance

| | |
|---|---|
| Robot | Aloha-Agilex (dual-arm, 14-DoF) |
| Episodes | 15,999 |
| Frames | 3,728,445 |
| FPS | 50 Hz |
| Cameras | 3 × RGB 480×640 H.264 (cam_high, cam_left_wrist, cam_right_wrist) |
| Tasks | 80 base × {clean, d6…d15} variants, 1,622 unique language prompts |
| Format | LeRobot v2.1 (Parquet + MP4) |
| License | CC-BY-4.0 |

## Layout

```
lerobot/roboreal_all_80tasks/
├── meta/
│   ├── info.json           # schema, fps, episode count
│   ├── tasks.jsonl         # 1,622 task language descriptions
│   ├── episodes.jsonl      # per-episode metadata
│   └── episodes_stats.jsonl
├── data/
│   └── chunk-{000..015}/
│       └── episode_{000000..015998}.parquet   # 50 Hz proprioception
└── videos/
    └── chunk-{000..015}/
        └── observation.images.{cam_high,cam_left_wrist,cam_right_wrist}/
            └── episode_{000000..015998}.mp4    # H.264 yuv420p, GOP=2
```

Each Parquet row contains:
- `observation.state` — `float32[14]` joint state
- `action` — `float32[14]` target joint command
- `timestamp`, `frame_index`, `episode_index`, `index`, `task_index`

The 14-DoF channel order for both `observation.state` and `action` is:
```
left_waist, left_shoulder, left_elbow, left_forearm_roll,
left_wrist_angle, left_wrist_rotate, left_gripper,
right_waist, right_shoulder, right_elbow, right_forearm_roll,
right_wrist_angle, right_wrist_rotate, right_gripper
```

## Loading

```python
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset

ds = LeRobotDataset(
    repo_id="Hoshipu/RoboPro",
    root="lerobot/roboreal_all_80tasks",   # subfolder within the repo
)
```

Or stream individual files:

```python
from huggingface_hub import hf_hub_download
import pyarrow.parquet as pq

p = hf_hub_download(
    "Hoshipu/RoboPro",
    "lerobot/roboreal_all_80tasks/data/chunk-000/episode_000000.parquet",
    repo_type="dataset",
)
table = pq.read_table(p)
```

## Croissant

A validated [Croissant 1.0](https://mlcommons.org/croissant) metadata file is included at
`croissant.json` and conforms to the MLCommons Croissant + RAI specification.

## Citation

```bibtex
@dataset{roboPro2026,
  title  = {RoboPro: 80-Task Bimanual Manipulation Demonstrations on Aloha-Agilex},
  author = {Li, Zhiyuan},
  year   = {2026},
  url    = {https://huggingface.co/datasets/Hoshipu/RoboPro}
}
```

## Limitations & ethical considerations

- All demonstrations were recorded on a single Aloha-Agilex unit in a fixed laboratory environment; lighting, camera intrinsics, and table geometry do not vary across episodes.
- Tasks are short-horizon (<10 s) tabletop manipulation — no long-horizon, navigation, or contact-rich (insertion, peg-in-hole) tasks.
- Demonstrations reflect the kinematic preferences of a small operator pool; they are not guaranteed to be task-optimal.
- No human faces, voices, biometric or other personal information is captured. Scenes consist of inanimate objects on a laboratory table.

See `croissant.json` for the full RAI block.