Domain: simulation · Environments: robosuite, single 6-DoF SO-101 arm (env-sim-robosuite-so101), Simulated 17-DoF XLeRobot platform (env-sim-xlerobot) · Format: LeRobot v3.0
Layout is <environment>/<task>/ — every leaf is a complete LeRobot dataset root.
| Folder | Task | Kind | Description | Environment | Episodes | Frames | FPS | Robot |
|---|---|---|---|---|---|---|---|---|
sim-robosuite-so101/t1_place_cup |
t1 | manipulation | Place the cup on the machine platform | robosuite, single 6-DoF SO-101 arm (sim-robosuite-so101) |
50 | 10,231 | 20 | robosuite_sim |
sim-robosuite-so101/t3_cup_to_tray |
t3 | manipulation | Move the filled cup from the machine to the tray | robosuite, single 6-DoF SO-101 arm (sim-robosuite-so101) |
50 | 19,485 | 20 | robosuite_sim |
sim-robosuite-so101/t5_tray_to_table |
t5 | manipulation | Move the filled cup from the tray to the user's table | robosuite, single 6-DoF SO-101 arm (sim-robosuite-so101) |
50 | 17,567 | 20 | robosuite_sim |
sim-xlerobot/t1_place_cup |
t1 | manipulation | Place the cup on the machine platform | Simulated 17-DoF XLeRobot platform (sim-xlerobot) |
51 | 17,988 | 20 | xlerobot_sim |
sim-xlerobot/t2_push_button |
t2 | manipulation | Push the machine's brew button | Simulated 17-DoF XLeRobot platform (sim-xlerobot) |
50 | 7,050 | 20 | xlerobot_sim |
sim-xlerobot/t3_cup_to_tray |
t3 | manipulation | Move the filled cup from the machine to the tray | Simulated 17-DoF XLeRobot platform (sim-xlerobot) |
50 | 19,209 | 20 | xlerobot_sim |
sim-xlerobot/t5_tray_to_table |
t5 | manipulation | Move the filled cup from the tray to the user's table | Simulated 17-DoF XLeRobot platform (sim-xlerobot) |
50 | 17,250 | 20 | xlerobot_sim |
Not yet uploaded: t4_navigate (t4).
Per-frame features
| Feature | dtype | shape | Meaning |
|---|---|---|---|
action |
float32 | [6] |
Commanded targets — 17-D on XLeRobot (left/right arm ×6, head ×2, base x/y/theta vel); 6-D on SO-101 (shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper). |
observation.state |
float32 | [117] |
RAW telemetry — 84-D on XLeRobot (17 motors × {pos, current_raw, load_raw, vel_hw} + base x/y/theta vel + 13 GY-91 IMU channels; imu.mag_* is NaN, an MPU6500 has no magnetometer). 117-D on SO-101/sim, which additionally bakes in the EKF breakdown (estimated/tau_ext, model/tau_*, tcp/wrench/, hpi/gripper/). |
observation.sim_model_force |
float32 | [36] |
Ground truth, sim only (36-D): per-joint model decomposition (tau_motor, tau_gravity, tau_coriolis, tau_inertial, tau_friction, tau_model). |
observation.sim_contact_force |
float32 | [24] |
Ground truth, sim only (24-D): per-joint true external torque (tau_ext, tau_ext_residual, tau_ext_jac, tau_ext_contact) — the label an estimator is graded against. |
observation.sim_tcp_wrench |
float32 | [12] |
Ground truth, sim only (12-D): true TCP wrench, contact and F/T-sensor variants. |
observation.sim_pose |
float32 | [7] |
Ground truth, sim only (7-D): cup position + quaternion. |
observation.sim_task |
float32 | [2] |
Ground truth, sim only (2-D): task success / failure flags. |
observation.hpi |
float32 | [9] |
Force channel (9-D): [grip tau_ext, grip q, grip dq, TCP wrench fx fy fz tx ty tz] — input to the force-aware (A1) models. NOT present on XLeRobot platform data: estimation there is a deliberate offline step so the estimator stays an experimental axis. |
observation.images.top |
video | [480, 640, 3] |
Head / overview camera (RGB). |
observation.images.top_depth |
image | [480, 640, 1] |
Overview depth (int16, 1-channel). Not used by ACT; dropped when building training variants. |
observation.images.head |
video | [480, 640, 3] |
Head / overview camera (RGB). |
observation.images.head_depth |
image | [480, 640, 1] |
Overview depth (int16, 1-channel). Not used by ACT; dropped when building training variants. |
Load one leaf (allow_patterns matters — without it you pull the whole repo):
from huggingface_hub import snapshot_download
from lerobot.datasets.lerobot_dataset import LeRobotDataset
repo, leaf = "IntelligentDecisionLab/xlerobot-coffee-sim", "sim-robosuite-so101/t1_place_cup"
root = snapshot_download(repo, repo_type="dataset", allow_patterns=f"{leaf}/*")
ds = LeRobotDataset(repo, root=f"{root}/{leaf}")