| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - robotics |
| - isaac-sim |
| - chess |
| - manipulation |
| configs: |
| - config_name: default |
| data_files: data/*/*.parquet |
| --- |
| |
| This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
|
|
| <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=lukasskellijs%2Fchess_bench"> |
| <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/> |
| <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-dark-xl.svg"/> |
| </a> |
|
|
| # chess_bench |
| |
| General chess **manipulation** demonstrations: a privileged scripted IK expert in NVIDIA Isaac |
| Lab (Arena) picks up **any** piece from the standard opening and carries it to a random central |
| square. Actions are the **native DROID joint-position** command (7 absolute arm joint targets + |
| binary gripper), so pi0.5/openpi/GR00T consume them directly. Each episode is labelled with its |
| own instruction (`move the {color} {type} from {src} to {dst}`); rollouts are kept |
| whether or not they succeed (per-episode `success` flag preserved in the source HDF5). |
| |
| - **Robot:** Franka Panda + Robotiq 2F-85 (DROID platform); expert drives a DifferentialIKController |
| (dls) into stiff PD joint-position control. |
| - **Control / record rate:** **15 Hz**. |
| - **Episodes:** 269 (269 scored success by the privileged check). |
| |
| ## Demonstrations per piece |
| |
| | piece | episodes | |
| |-------|----------| |
| | `black bishop` | 17 | |
| | `black king` | 16 | |
| | `black knight` | 17 | |
| | `black pawn` | 43 | |
| | `black queen` | 12 | |
| | `black rook` | 12 | |
| | `white bishop` | 27 | |
| | `white king` | 4 | |
| | `white knight` | 28 | |
| | `white pawn` | 51 | |
| | `white queen` | 12 | |
| | `white rook` | 30 | |
| |
| ## Observation / action / state layout |
| |
| | key | dtype | shape | meaning / units | |
| |-----|-------|-------|-----------------| |
| | `observation.images.front` | video (H.264, CRF 15) | (224,224,3) | external RGB, uint8 | |
| | `observation.images.wrist` | video (H.264, CRF 15) | (224,224,3) | eye-in-hand RGB, uint8 | |
| | `observation.state` | float32 | (8,) | joint_position (7, rad) + gripper_position (1, 0=open 1=closed) | |
| | `action` | float32 | (8,) | 7 absolute arm joint-position targets (rad) + gripper (1: 1=close, 0=open) | |
| |
