| --- |
| license: other |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - franka |
| - robot-learning |
| - joint-space |
| pretty_name: OpenRoboto AXIS Franka Datapool |
| --- |
| |
| # OpenRoboto AXIS Franka Datapool |
|
|
| This is OpenRoboto's independently maintained AXIS Franka release. It is kept |
| separate from [`openroboto-ai/libero-datapool`](https://huggingface.co/datasets/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 position |
| - `action`: 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 |
|
|
| ```python |
| 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: |
|
|
| ```python |
| 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`](https://huggingface.co/datasets/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. |
|
|
