| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - manipulation |
| - vla |
| --- |
| |
| # Simple Mixed (sim&real) Franka Pick-Cube Dataset in LeRobot Format |
| This repository contains the franka dataset in parquet format used to train PiZero in the paper [Robot Control Stack: A Lean Ecosystem for Robot Learning at Scale](https://huggingface.co/papers/2509.14932). |
| This dataset is in LeRobot format and thus ready to use for training OpenPi, lerobot and other models which support this common format. |
| The Robot Control Stack (RCS) is a flexible Gymnasium wrapper-based robot control interface made for robot learning and specifically Vision-Language-Action (VLA) models. |
| It unifies MuJoCo simulation and real world robot control with four supported robots: FR3/Panda, xArm7, UR5e and SO101. It ships with several pre-build apps including data collection via teleoperation and remote model inference. |
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| Project page: https://robotcontrolstack.github.io/ |
| RCS Code: https://github.com/RobotControlStack/robot-control-stack |
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| ## Citation |
| If you find this dataset or RCS useful for your work, please consider citing it: |
| ``` |
| @inproceedings{juelg2025robotcontrolstack, |
| title={{Robot Control Stack}: {A} Lean Ecosystem for Robot Learning at Scale}, |
| author={Tobias J{\"u}lg and Pierre Krack and Seongjin Bien and Yannik Blei and Khaled Gamal and Ken Nakahara and Johannes Hechtl and Roberto Calandra and Wolfram Burgard and Florian Walter}, |
| year={2025}, |
| booktitle={Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)}, |
| note={Accepted for publication.} |
| } |
| ``` |
