RoboChallenge-lerobot

Note: The original dataset comes from RoboChallenge/Table30. This is an unofficial conversion to LeRobot v3.0 format.

Dataset Description

RoboChallenge benchmark dataset in LeRobot v3.0 format. Contains 26 manipulation tasks with 22,111 episodes and 29,162,844 frames in total.

Each subtask is a separate config (subset). To load a specific subtask:

from lerobot.common.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset("Traly/RoboChallenge-lerobot", subsets=["arrange_flowers"])

Or load via HuggingFace datasets:

from datasets import load_dataset

ds = load_dataset("Traly/RoboChallenge-lerobot", "arrange_flowers")

Subtasks

Subtask	Episodes	Frames	FPS	Robot
arrange_flowers	973	1,729,903	30	arx5
arrange_fruits_in_basket	965	2,229,219	30	ur5
arrange_paper_cups	773	1,576,111	30	arx5
clean_dining_table	982	1,603,318	30	aloha
fold_dishcloth	958	1,171,347	30	arx5
hang_toothbrush_cup	576	344,470	30	ur5
make_vegetarian_sandwich	1,397	1,677,603	30	aloha
move_objects_into_box	792	969,474	30	franka
open_the_drawer	590	420,979	30	arx5
place_shoes_on_rack	937	1,151,867	30	arx5
plug_in_network_cable	515	466,785	30	aloha
pour_fries_into_plate	1,534	1,524,966	30	aloha
press_three_buttons	578	413,563	30	franka
put_cup_on_coaster	649	295,152	30	arx5
put_opener_in_drawer	974	764,976	30	aloha
search_green_boxes	661	756,081	30	arx5
set_the_plates	599	2,088,877	30	ur5
shred_scrap_paper	767	811,337	30	ur5
sort_books	920	2,946,192	30	ur5
sort_electronic_products	948	2,008,774	30	arx5
stack_bowls	1,047	467,403	30	aloha
stack_color_blocks	579	431,550	30	ur5
turn_on_faucet	1,005	774,245	30	aloha
turn_on_light_switch	580	260,707	30	arx5
water_potted_plant	956	1,094,621	30	arx5
wipe_the_table	856	1,183,324	30	arx5
Total	22,111	29,162,844

Dataset Structure

Each subtask follows the LeRobot v3.0 format:

<subtask>/
├── data/
│   └── chunk-000/
│       ├── file-000.parquet
│       └── ...
├── meta/
│   ├── info.json
│   ├── stats.json
│   ├── tasks.parquet
│   └── episodes/
│       └── chunk-000/
└── videos/
    ├── observation.global_image/
    ├── observation.right_image/
    └── observation.wrist_image/

Features (from meta/info.json):

{
    "observation.wrist_image": {
        "dtype": "video",
        "shape": [
            480,
            640,
            3
        ],
        "names": [
            "height",
            "width",
            "channel"
        ],
        "info": {
            "video.height": 480,
            "video.width": 640,
            "video.codec": "av1",
            "video.pix_fmt": "yuv420p",
            "video.is_depth_map": false,
            "video.fps": 30,
            "video.channels": 3,
            "has_audio": false
        }
    },
    "observation.global_image": {
        "dtype": "video",
        "shape": [
            480,
            640,
            3
        ],
        "names": [
            "height",
            "width",
            "channel"
        ],
        "info": {
            "video.height": 480,
            "video.width": 640,
            "video.codec": "av1",
            "video.pix_fmt": "yuv420p",
            "video.is_depth_map": false,
            "video.fps": 30,
            "video.channels": 3,
            "has_audio": false
        }
    },
    "observation.right_image": {
        "dtype": "video",
        "shape": [
            480,
            640,
            3
        ],
        "names": [
            "height",
            "width",
            "channel"
        ],
        "info": {
            "video.height": 480,
            "video.width": 640,
            "video.codec": "av1",
            "video.pix_fmt": "yuv420p",
            "video.is_depth_map": false,
            "video.fps": 30,
            "video.channels": 3,
            "has_audio": false
        }
    },
    "observation.state": {
        "dtype": "float32",
        "shape": [
            7
        ],
        "names": [
            "state"
        ]
    },
    "action": {
        "dtype": "float32",
        "shape": [
            7
        ],
        "names": [
            "action"
        ]
    },
    "timestamp": {
        "dtype": "float32",
        "shape": [
            1
        ],
        "names": null
    },
    "frame_index": {
        "dtype": "int64",
        "shape": [
            1
        ],
        "names": null
    },
    "episode_index": {
        "dtype": "int64",
        "shape": [
            1
        ],
        "names": null
    },
    "index": {
        "dtype": "int64",
        "shape": [
            1
        ],
        "names": null
    },
    "task_index": {
        "dtype": "int64",
        "shape": [
            1
        ],
        "names": null
    }
}

Citation

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