README.md

metadata

license: cc-by-nc-sa-4.0
task_categories:
  - robotics
tags:
  - LeRobot
language:
  - en
configs:
  - config_name: default
    data_files: data/*/*.parquet

This dataset was created using LeRobot.

Dataset Description

This dataset provides examples and data accompanying the paper "Robot Learning: A Tutorial". The tutorial navigates the landscape of modern robot learning, charting a course from foundational principles of Reinforcement Learning and Behavioral Cloning to generalist, language-conditioned models capable of operating across diverse tasks and robot embodiments. This dataset includes ready-to-use examples implemented in lerobot.

• Homepage: https://huggingface.co/spaces/lerobot/robot-learning-tutorial
• Paper: Robot Learning: A Tutorial
• Code: https://github.com/fracapuano/robot-learning-tutorial
• License: Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": null,
    "total_episodes": 15,
    "total_frames": 608,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 10,
    "splits": {
        "train": "0:15"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "shape": [
                4
            ],
            "names": {
                "delta_x": 0,
                "delta_y": 1,
                "delta_z": 2,
                "gripper": 3
            }
        },
        "next.reward": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "next.done": {
            "dtype": "bool",
            "shape": [
                1
            ],
            "names": null
        },
        "complementary_info.discrete_penalty": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "discrete_penalty"
            ]
        },
        "observation.images.top": {
            "dtype": "video",
            "shape": [
                3,
                128,
                128
            ],
            "names": [
                "channels",
                "height",
                "width"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                18
            ],
            "names": null
        },
        "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

BibTeX:

@article{fracapuano2024robot,
  title={Robot Learning: A Tutorial},
  author={Fracapuano, Riccardo and Shafi, Hammad and Gu, Shuo and Abnar, Samira},
  journal={arXiv preprint arXiv:2510.12403},
  year={2024}
}