| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - robotics |
| - manipulation |
| - bimanual |
| - roboeval |
| - pi0.5 |
| - vla |
| --- |
| |
| # RoboEval → openpi LeRobot dataset (`roboeval_all`) |
| |
| Vision-language-action dataset for fine-tuning **π0.5** (openpi) on the |
| [**RoboEval**](https://robo-eval.github.io/) bimanual-manipulation benchmark |
| ([arXiv 2507.00435](https://arxiv.org/abs/2507.00435)). |
| |
| Built by replaying RoboEval's lightweight demos (seed + action) with a camera on and rendering the |
| observations, then packing to an **openpi-native LeRobot v2.1** dataset. |
| |
| - **4135 episodes**, ~5.47M frames, 33 task variants (10 language instructions), bimanual Panda |
| - Features: `observation.images.external` (224×224), `observation.state` (38), `action` (16, absolute joint), per-episode task prompt |
| - ~15 GB |
| |
| ## Why tar shards |
| A LeRobot dataset is ~8k small files (one parquet + one mp4 per episode), which trips Hugging Face's |
| upload API rate limits. It's shipped here as `roboeval_all.tar.part00, part01, …` (4 GB each, no |
| compression — the mp4/parquet are already compressed). |
|
|
| ## Download & reassemble |
| ```bash |
| huggingface-cli download ethenj/roboeval_all --repo-type dataset --local-dir /tmp/roboeval_tar |
| mkdir -p ~/lerobot-cache/roboeval |
| cat /tmp/roboeval_tar/roboeval_all.tar.part* | tar xf - -C ~/lerobot-cache/roboeval/ |
| # -> ~/lerobot-cache/roboeval/roboeval_all (a standard LeRobot v2.1 dataset) |
| ``` |
|
|
| ## Use |
| Full fine-tuning + eval code: **https://github.com/EthenJ/roboeval-pi05** |
|
|
| License: Apache-2.0. Derived from RoboEval (Apache-2.0) and openpi (Apache-2.0). π0.5 weights are |
| distributed separately by Physical Intelligence. |
|
|
