---
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.

Project page: https://robotcontrolstack.github.io/
RCS Code: https://github.com/RobotControlStack/robot-control-stack



## 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.}
}
```