---
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.