Robot Control Stack: A Lean Ecosystem for Robot Learning at Scale
Paper
•
2509.14932
•
Published
Dataset Viewer
The dataset viewer is not available for this subset.
Cannot get the split names for the config 'default' of the dataset.
Exception: SplitsNotFoundError
Message: The split names could not be parsed from the dataset config.
Traceback: Traceback (most recent call last):
File "/usr/local/lib/python3.12/site-packages/datasets/inspect.py", line 289, in get_dataset_config_info
for split_generator in builder._split_generators(
^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/parquet/parquet.py", line 60, in _split_generators
self.info.features = datasets.Features.from_arrow_schema(pq.read_schema(f))
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/features/features.py", line 1844, in from_arrow_schema
else generate_from_arrow_type(field.type)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/features/features.py", line 1496, in generate_from_arrow_type
return {field.name: generate_from_arrow_type(field.type) for field in pa_type}
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/features/features.py", line 1507, in generate_from_arrow_type
return Value(dtype=_arrow_to_datasets_dtype(pa_type))
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/features/features.py", line 118, in _arrow_to_datasets_dtype
raise ValueError(f"Arrow type {arrow_type} does not have a datasets dtype equivalent.")
ValueError: Arrow type extension<arrow.fixed_shape_tensor[value_type=double, shape=[7]]> does not have a datasets dtype equivalent.
The above exception was the direct cause of the following exception:
Traceback (most recent call last):
File "/src/services/worker/src/worker/job_runners/config/split_names.py", line 65, in compute_split_names_from_streaming_response
for split in get_dataset_split_names(
^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/inspect.py", line 343, in get_dataset_split_names
info = get_dataset_config_info(
^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/inspect.py", line 294, in get_dataset_config_info
raise SplitsNotFoundError("The split names could not be parsed from the dataset config.") from err
datasets.inspect.SplitsNotFoundError: The split names could not be parsed from the dataset config.Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
Simple Teleoperated Franka Pick-Cube Dataset
This repository contains the franka dataset in parquet format used to train Octo, OpenVLA and PiZero in the paper Robot Control Stack: A Lean Ecosystem for Robot Learning at Scale. 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:
@misc{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},
howpublished = {\url{https://arxiv.org/abs/2509.14932}}
}
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