PickNikRobotics/pi05_kinova_gen3_cube_stack_sim
Robotics • 4B • Updated • 12
Datasets:
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episode_index int64 0 359 | frame_index int64 0 191 | index int64 0 59.3k | task_index int64 0 5 | timestamp float64 0 19.1 | observation.state listlengths 8 8 | action listlengths 8 8 |
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End of preview. Expand in Data Studio
Kinova Gen3 cube stacking (simulated)
360 demonstrations of color-conditioned cube stacking on a simulated Kinova Gen3, generated in
MuJoCo by a scripted inverse-kinematics oracle and published in
LeRobot v3.0 format. A red, a green, and a blue cube
sit on a table. Each episode has a prompt such as stack the red cube on the green cube, and the
arm picks the named cube and places it on the named target. All six color orderings are present,
60 episodes each.
The reference checkpoint trained on this dataset is
pi05_kinova_gen3_cube_stack_sim.
Contents
| Episodes | 360 |
| Frames | 59,312 |
| Tasks | 6 |
| Robot | Kinova Gen3 7-DoF with a Robotiq 2F-85 gripper |
| Control rate | 10 Hz |
| Format | LeRobot v3.0 |
| feature | dtype | shape | contents |
|---|---|---|---|
observation.state |
float32 | [8] | measured position of joint_1...joint_7 and robotiq_85_left_knuckle_joint |
action |
float32 | [8] | commanded position, same channel order |
observation.images.scene |
video | [480, 480, 3] | fixed view of the workspace |
observation.images.wrist |
video | [480, 480, 3] | wrist-mounted camera |
observation.images.overview |
video | [480, 480, 3] | top-down view |
Video is H.264, yuv420p. Cube positions are randomized per episode within the arm's top-down
reach.
meta/train_layouts.jsonl gives the starting cube pose for each episode, keyed by
episode_index. meta/eval_layouts.jsonl gives the 150 held-out layouts used to evaluate the
reference checkpoint. Both record cube positions and yaws in the order red, green, blue, with
held and target indexing into that order.
License
Apache-2.0. The data is PickNik-generated: simulated trajectories and renders from our own MuJoCo scene.
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Models trained or fine-tuned on PickNikRobotics/kinova_gen3_cube_stack_sim