---
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.