ases200q2/roboverse_lerobot_final

RoboVerse Pick Cube Dataset (LeRobot Format)

This dataset contains robotic manipulation demonstrations of a Franka robot performing a pick-and-place task with a cube. The dataset has been converted from RoboVerse format to LeRobot format for seamless integration with LeRobot policies and training pipelines.

Dataset Details

• Robot: Franka Emika Panda
• Task: Pick and place a cube
• Episodes: 6 (4 successful, 2 failed)
• Total Frames: 615
• FPS: 30
• Videos: 6 RGB recordings (480x640)

Features

• action: 8D vector (7 joint angles + gripper position)
• observation.state: 8D vector (7 joint angles + gripper position)
• observation.image: RGB camera observations
• timestamp: Time since episode start
• frame_index, episode_index, index: Episode and frame metadata
• task_index: Task identifier

Usage

Loading the Dataset

from lerobot.datasets.lerobot_dataset import LeRobotDataset

# Load from Hugging Face
dataset = LeRobotDataset("ases200q2/roboverse_lerobot_final")

# Access a sample
sample = dataset[0]
print(f"Action: {sample['action']}")
print(f"State: {sample['observation.state']}")
print(f"Image shape: {sample['observation.image'].shape}")

Training with LeRobot

from lerobot.policies.act.modeling_act import ACTPolicy
from lerobot.datasets.factory import make_dataset

# Load dataset
dataset = make_dataset(cfg)

# Train policy
policy = ACTPolicy(cfg)
policy.train(dataset)

Visualization

View this dataset online:

• LeRobot Dataset Visualizer
• Dataset Page

Conversion

This dataset was converted from RoboVerse format using the converter script available at:

• scripts/convert_to_lerobot_simple_final.py

License

Please check the original RoboVerse repository for license information.

Acknowledgments

• Original dataset from RoboVerse
• Conversion powered by LeRobot