Search is not available for this dataset
observation.state listlengths 9 9 ⌀ | action listlengths 9 9 ⌀ | timestamp float32 0 124 ⌀ | frame_index int64 0 3.71k ⌀ | episode_index int64 0 16.8k ⌀ | index int64 0 2.78M ⌀ | task_index int64 0 92 ⌀ |
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End of preview. Expand in Data Studio
OpenRoboto AXIS Franka Datapool
This is OpenRoboto's independently maintained AXIS Franka release. It is kept
separate from openroboto-ai/libero-datapool
because AXIS and LIBERO do not share an action space.
The v0.1-metadata release contains observations, actions, language tasks, and
episode metadata only. It deliberately contains no rendered or encoded
video. selection_manifest.json fixes the exact source episodes, so a later
single-camera AV1 addition can use the same split. Its projected total size,
including that future video, is approximately 10 GB.
The fixed split contains 16,815 episodes and 2,776,873 frames from 93 AXIS V1 tasks. The projection is 9.723 GB of future AV1 video plus 0.278 GB of tabular data, or 10.001 GB total.
Representation
- Format: LeRobot v3.0, 30 Hz
observation.state: 9D joint positionaction: 9D joint-position controller target- Layout:
[finger_1, finger_2, arm_joint_1, ..., arm_joint_7] - Camera in the source: one 256×256
head_camera(not included in this release)
The source representation is canonical and lossless. We do not pre-convert it
to LIBERO's 7D end-effector action, because forward kinematics cannot recover
the environment-specific OSC command exactly. loader.py instead offers the
8D Pi0.5-Axis/DROID adapter used by the AXIS training recipe.
Load
from loader import load_dataset
# Exact 9D source representation at 30 Hz
dataset = load_dataset(action_space="joint_position_target", sample_hz=30)
# Official-style online adapter: 8D DROID view, sampled at 15 Hz
pi05_dataset = load_dataset(action_space="pi05_droid", sample_hz=15)
sample = pi05_dataset[0]
Install lerobot>=0.4, torch, and numpy. Standard LeRobot loading also
works directly:
from lerobot.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset(
"openroboto-ai/axis-franka-datapool",
revision="v0.1-metadata",
download_videos=False,
)
Provenance and reproducibility
Source: axisrobotics/Franka-Dataset,
pinned to the commit recorded in meta/info.json and
selection_manifest.json. Selection is deterministic, episode-level, and
records every original (task_id, episode_index) pair. OpenRoboto is releasing
this derivative dataset with authorization from the AXIS partner. See
TERMS.md for the release notice; no third-party personal account is used to
publish this repository.
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