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Datasets:
RoboPRO
/
RoboPRO_data

Tasks:
Robotics
Size:
10K<n<100K
Tags:
robotics
imitation-learning
bimanual-manipulation
aloha-agilex
lerobot
License:
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RoboPro: 80-task bimanual manipulation dataset

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+ *.7z filter=lfs diff=lfs merge=lfs -text
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+ *.arrow filter=lfs diff=lfs merge=lfs -text
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+ *.avro filter=lfs diff=lfs merge=lfs -text
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+ *.bin filter=lfs diff=lfs merge=lfs -text
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+ *.bz2 filter=lfs diff=lfs merge=lfs -text
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+ *.ckpt filter=lfs diff=lfs merge=lfs -text
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+ *.ftz filter=lfs diff=lfs merge=lfs -text
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+ *.gz filter=lfs diff=lfs merge=lfs -text
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+ *.h5 filter=lfs diff=lfs merge=lfs -text
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+ *.joblib filter=lfs diff=lfs merge=lfs -text
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+ *.lfs.* filter=lfs diff=lfs merge=lfs -text
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+ *.lz4 filter=lfs diff=lfs merge=lfs -text
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+ *.mds filter=lfs diff=lfs merge=lfs -text
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+ *.mlmodel filter=lfs diff=lfs merge=lfs -text
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+ *.model filter=lfs diff=lfs merge=lfs -text
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+ *.msgpack filter=lfs diff=lfs merge=lfs -text
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+ *.npy filter=lfs diff=lfs merge=lfs -text
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+ *.npz filter=lfs diff=lfs merge=lfs -text
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+ *.onnx filter=lfs diff=lfs merge=lfs -text
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+ *.ot filter=lfs diff=lfs merge=lfs -text
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+ *.parquet filter=lfs diff=lfs merge=lfs -text
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+ *.pb filter=lfs diff=lfs merge=lfs -text
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+ *.pickle filter=lfs diff=lfs merge=lfs -text
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+ *.pkl filter=lfs diff=lfs merge=lfs -text
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+ *.pt filter=lfs diff=lfs merge=lfs -text
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+ *.pth filter=lfs diff=lfs merge=lfs -text
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+ *.rar filter=lfs diff=lfs merge=lfs -text
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+ *.safetensors filter=lfs diff=lfs merge=lfs -text
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+ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
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+ *.tar.* filter=lfs diff=lfs merge=lfs -text
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+ *.tar filter=lfs diff=lfs merge=lfs -text
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+ *.tflite filter=lfs diff=lfs merge=lfs -text
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+ *.tgz filter=lfs diff=lfs merge=lfs -text
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+ *.zst filter=lfs diff=lfs merge=lfs -text
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+ *tfevents* filter=lfs diff=lfs merge=lfs -text
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+ # Audio files - uncompressed
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+ *.pcm filter=lfs diff=lfs merge=lfs -text
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+ *.raw filter=lfs diff=lfs merge=lfs -text
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+ # Image files - compressed
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+ *.jpeg filter=lfs diff=lfs merge=lfs -text
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+ *.webp filter=lfs diff=lfs merge=lfs -text
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+ # Video files - compressed
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README.md ADDED
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+ ---
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+ license: cc-by-4.0
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+ task_categories:
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+ - robotics
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+ tags:
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+ - robotics
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+ - imitation-learning
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+ - bimanual-manipulation
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+ - aloha-agilex
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+ - lerobot
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+ pretty_name: RoboPro
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+ size_categories:
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+ - 10K<n<100K
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+ ---
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+
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+ # RoboPro
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+
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+ **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.
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+
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+ The dataset is released in [LeRobot v2.1](https://github.com/huggingface/lerobot) format.
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+
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+ ## At a glance
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+
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+ | | |
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+ |---|---|
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+ | Robot | Aloha-Agilex (dual-arm, 14-DoF) |
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+ | Episodes | 15,999 |
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+ | Frames | 3,728,445 |
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+ | FPS | 50 Hz |
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+ | Cameras | 3 × RGB 480×640 H.264 (cam_high, cam_left_wrist, cam_right_wrist) |
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+ | Tasks | 80 base × {clean, d6…d15} variants, 1,622 unique language prompts |
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+ | Format | LeRobot v2.1 (Parquet + MP4) |
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+ | License | CC-BY-4.0 |
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+
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+ ## Layout
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+
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+ ```
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+ lerobot/roboreal_all_80tasks/
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+ ├── meta/
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+ │ ├── info.json # schema, fps, episode count
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+ │ ├── tasks.jsonl # 1,622 task language descriptions
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+ │ ├── episodes.jsonl # per-episode metadata
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+ │ └── episodes_stats.jsonl
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+ ├── data/
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+ │ └── chunk-{000..015}/
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+ │ └── episode_{000000..015998}.parquet # 50 Hz proprioception
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+ └── videos/
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+ └── chunk-{000..015}/
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+ └── observation.images.{cam_high,cam_left_wrist,cam_right_wrist}/
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+ └── episode_{000000..015998}.mp4 # H.264 yuv420p, GOP=2
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+ ```
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+
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+ Each Parquet row contains:
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+ - `observation.state` — `float32[14]` joint state
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+ - `action` — `float32[14]` target joint command
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+ - `timestamp`, `frame_index`, `episode_index`, `index`, `task_index`
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+
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+ The 14-DoF channel order for both `observation.state` and `action` is:
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+ ```
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+ left_waist, left_shoulder, left_elbow, left_forearm_roll,
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+ left_wrist_angle, left_wrist_rotate, left_gripper,
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+ right_waist, right_shoulder, right_elbow, right_forearm_roll,
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+ right_wrist_angle, right_wrist_rotate, right_gripper
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+ ```
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+
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+ ## Loading
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+
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+ ```python
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+ from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
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+
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+ ds = LeRobotDataset(
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+ repo_id="RoboPRO/RoboPRO_data",
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+ root="lerobot/roboreal_all_80tasks", # subfolder within the repo
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+ )
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+ ```
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+
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+ Or stream individual files:
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+
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+ ```python
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+ from huggingface_hub import hf_hub_download
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+ import pyarrow.parquet as pq
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+
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+ p = hf_hub_download(
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+ "RoboPRO/RoboPRO_data",
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+ "lerobot/roboreal_all_80tasks/data/chunk-000/episode_000000.parquet",
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+ repo_type="dataset",
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+ )
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+ table = pq.read_table(p)
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+ ```
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+
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+ ## Citation
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+
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+ ```bibtex
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+ @dataset{roboPro2026,
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+ title = {RoboPro: 80-Task Bimanual Manipulation Demonstrations on Aloha-Agilex},
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+ author = {RoboPRO},
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+ year = {2026},
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+ url = {https://huggingface.co/datasets/RoboPRO/RoboPRO_data}
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+ }
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+ ```
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+
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+ ## Limitations & ethical considerations
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+
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+ - 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.
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+ - Tasks are short-horizon (<10 s) tabletop manipulation — no long-horizon, navigation, or contact-rich (insertion, peg-in-hole) tasks.
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+ - Demonstrations reflect the kinematic preferences of a small operator pool; they are not guaranteed to be task-optimal.
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+ - No human faces, voices, biometric or other personal information is captured. Scenes consist of inanimate objects on a laboratory table.
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