---
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) |